{"id":"https://openalex.org/W4396799907","doi":"https://doi.org/10.1177/02783649241251385","title":"Spiral complete coverage path planning based on conformal slit mapping in multi-connected domains","display_name":"Spiral complete coverage path planning based on conformal slit mapping in multi-connected domains","publication_year":2024,"publication_date":"2024-05-10","ids":{"openalex":"https://openalex.org/W4396799907","doi":"https://doi.org/10.1177/02783649241251385"},"language":"en","primary_location":{"id":"doi:10.1177/02783649241251385","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649241251385","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Changqing Shen","orcid":"https://orcid.org/0009-0005-4539-7405"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changqing Shen","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0005-4539-7405","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035997417","display_name":"Sihao Mao","orcid":"https://orcid.org/0009-0003-1713-155X"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sihao Mao","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0003-1713-155X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030716292","display_name":"Bingzhou Xu","orcid":"https://orcid.org/0009-0000-9950-4919"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingzhou Xu","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0000-9950-4919","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039781835","display_name":"Ziwei Wang","orcid":"https://orcid.org/0009-0000-7671-9159"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziwei Wang","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0000-7671-9159","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100685468","display_name":"Xiaojian Zhang","orcid":"https://orcid.org/0000-0001-6602-3449"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaojian Zhang","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-6602-3449","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100381761","display_name":"Sijie Yan","orcid":"https://orcid.org/0000-0003-4398-0590"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sijie Yan","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057513904","display_name":"Han Ding","orcid":"https://orcid.org/0000-0003-2905-6369"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Ding","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100685468"],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":2.6926,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.91164815,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"43","issue":"14","first_page":"2183","last_page":"2203"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9884999990463257,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/slit","display_name":"Slit","score":0.8031279444694519},{"id":"https://openalex.org/keywords/conformal-map","display_name":"Conformal map","score":0.7245801091194153},{"id":"https://openalex.org/keywords/spiral","display_name":"Spiral (railway)","score":0.570708692073822},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.528364896774292},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.41249340772628784},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3948739171028137},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.3569720983505249},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.35273224115371704},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31482499837875366},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.1883489191532135},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1657341718673706},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.1293470561504364},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.12180951237678528}],"concepts":[{"id":"https://openalex.org/C199215989","wikidata":"https://www.wikidata.org/wiki/Q79239196","display_name":"Slit","level":2,"score":0.8031279444694519},{"id":"https://openalex.org/C98214594","wikidata":"https://www.wikidata.org/wiki/Q850275","display_name":"Conformal map","level":2,"score":0.7245801091194153},{"id":"https://openalex.org/C174128100","wikidata":"https://www.wikidata.org/wiki/Q846907","display_name":"Spiral (railway)","level":2,"score":0.570708692073822},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.528364896774292},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.41249340772628784},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3948739171028137},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.3569720983505249},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.35273224115371704},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31482499837875366},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.1883489191532135},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1657341718673706},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.1293470561504364},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.12180951237678528}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649241251385","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649241251385","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G234177690","display_name":null,"funder_award_id":"52188102","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7799536887","display_name":null,"funder_award_id":"52375495","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W1007460220","https://openalex.org/W1535557537","https://openalex.org/W1971354628","https://openalex.org/W1978228153","https://openalex.org/W1982968486","https://openalex.org/W1986573745","https://openalex.org/W1991113069","https://openalex.org/W1998951994","https://openalex.org/W1999071165","https://openalex.org/W2004006539","https://openalex.org/W2008174433","https://openalex.org/W2010512922","https://openalex.org/W2031161668","https://openalex.org/W2040486135","https://openalex.org/W2051151056","https://openalex.org/W2070942838","https://openalex.org/W2073911724","https://openalex.org/W2079149456","https://openalex.org/W2082148785","https://openalex.org/W2083995953","https://openalex.org/W2089344586","https://openalex.org/W2089927737","https://openalex.org/W2106272400","https://openalex.org/W2112155935","https://openalex.org/W2159017378","https://openalex.org/W2162856858","https://openalex.org/W2165585517","https://openalex.org/W2285657798","https://openalex.org/W2324463447","https://openalex.org/W2349468399","https://openalex.org/W2464003328","https://openalex.org/W2528232985","https://openalex.org/W2532373555","https://openalex.org/W2583386689","https://openalex.org/W2736422478","https://openalex.org/W2769762217","https://openalex.org/W2883430193","https://openalex.org/W2888883655","https://openalex.org/W2907645337","https://openalex.org/W2915816881","https://openalex.org/W2949485541","https://openalex.org/W2987981295","https://openalex.org/W2988886997","https://openalex.org/W2997787604","https://openalex.org/W3026530721","https://openalex.org/W3047252348","https://openalex.org/W3083648773","https://openalex.org/W3086338852","https://openalex.org/W3102457144","https://openalex.org/W3103628751","https://openalex.org/W3159021829","https://openalex.org/W3194342610","https://openalex.org/W3200869038","https://openalex.org/W4291432736","https://openalex.org/W4312917880","https://openalex.org/W4316661462","https://openalex.org/W4321793633","https://openalex.org/W4322806647","https://openalex.org/W4327949030","https://openalex.org/W4367172112","https://openalex.org/W4375952603"],"related_works":["https://openalex.org/W2744986220","https://openalex.org/W4291672621","https://openalex.org/W2565101259","https://openalex.org/W4392863055","https://openalex.org/W1885913594","https://openalex.org/W2523163679","https://openalex.org/W1973682949","https://openalex.org/W2316758019","https://openalex.org/W4384009985","https://openalex.org/W2080037571"],"abstract_inverted_index":{"The":[0,217],"generation":[1],"of":[2,85,210],"smoother":[3],"and":[4,25,55,185,195,213,233,238],"shorter":[5],"spiral":[6,32,72,124,146,171],"complete":[7,61,73,172,225],"coverage":[8,74,147,173],"paths":[9],"in":[10,18,35,164,179,208],"multi-connected":[11,36,94],"domains":[12,37,95],"is":[13,113,129,149],"a":[14,40,70,108,123,161],"crucial":[15],"research":[16],"topic":[17],"path":[19,33,75,125,148,174,182],"planning":[20,34,76],"for":[21,31,104,115],"robotic":[22],"cavity":[23,193],"machining":[24,211,231],"other":[26],"related":[27],"fields.":[28],"Traditional":[29],"methods":[30],"typically":[38],"incorporate":[39],"subregion":[41,48,105],"division":[42],"procedure":[43],"that":[44,88,157],"leads":[45],"to":[46,59,198],"excessive":[47],"bridging,":[49],"requiring":[50],"longer,":[51],"more":[52],"sharply":[53],"turning,":[54],"unevenly":[56],"spaced":[57],"spirals":[58],"achieve":[60],"coverage.":[62],"To":[63],"address":[64],"this":[65,67],"issue,":[66],"paper":[68],"proposes":[69],"novel":[71],"method":[77,128,159,202,207],"using":[78],"conformal":[79,89,140],"slit":[80,90,109,141],"mapping.":[81],"It":[82],"takes":[83],"advantage":[84],"the":[86,102,133,145,168,200,204,227,243],"fact":[87],"mapping":[91,110,142],"can":[92],"transform":[93],"into":[96],"regular":[97],"disks":[98],"or":[99],"annuluses":[100],"without":[101],"need":[103],"division.":[106],"Firstly,":[107],"calculation":[111],"technique":[112],"proposed":[114],"segmented":[116],"cubic":[117],"spline":[118],"boundaries":[119],"with":[120,167,203,221,242],"corners.":[121],"Secondly,":[122],"spacing":[126,186],"control":[127],"developed":[130],"based":[131],"on":[132,192],"maximum":[134],"inscribed":[135],"circle":[136],"radius":[137],"between":[138],"adjacent":[139],"iso-parameters.":[143,153],"Thirdly,":[144],"derived":[150],"by":[151,236],"offsetting":[152],"Numerical":[154],"experiments":[155,191],"indicate":[156],"our":[158],"shares":[160],"comparable":[162],"order-of-magnitude":[163],"computation":[165],"time":[166,232],"traditional":[169,205,244],"PDE-based":[170,206,245],"method,":[175],"but":[176],"it":[177],"excels":[178],"optimizing":[180],"total":[181],"length,":[183],"smoothness,":[184],"consistency.":[187],"Finally,":[188],"we":[189],"performed":[190],"milling":[194],"dry":[196],"runs":[197],"compare":[199],"new":[201,228],"terms":[209],"duration":[212],"steering":[214,234],"impact,":[215],"respectively.":[216],"comparison":[218],"reveals":[219],"that,":[220],"both":[222],"algorithms":[223],"achieving":[224],"coverage,":[226],"algorithm":[229],"reduces":[230],"impact":[235],"12.34%":[237],"22.78%,":[239],"respectively,":[240],"compared":[241],"method.":[246]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
