{"id":"https://openalex.org/W2914691959","doi":"https://doi.org/10.1631/fitee.1800551","title":"A-STC: auction-based spanning tree coverage algorithm formotion planning of cooperative robots","display_name":"A-STC: auction-based spanning tree coverage algorithm formotion planning of cooperative robots","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2914691959","doi":"https://doi.org/10.1631/fitee.1800551","mag":"2914691959"},"language":"en","primary_location":{"id":"doi:10.1631/fitee.1800551","is_oa":false,"landing_page_url":"https://doi.org/10.1631/fitee.1800551","pdf_url":null,"source":{"id":"https://openalex.org/S4210189857","display_name":"Frontiers of Information Technology & Electronic Engineering","issn_l":"2095-9184","issn":["2095-9184","2095-9230"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers of Information Technology &amp; Electronic Engineering","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":"https://openalex.org/A5008583434","display_name":"Guanqiang Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guan-Qiang Gao","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing, 100081, China","Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing, 100081, China","School of Automation, Beijing Institute of Technology, Beijing, 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing, 100081, China","institution_ids":["https://openalex.org/I4210165198"]},{"raw_affiliation_string":"Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing, 100081, China","institution_ids":[]},{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020307082","display_name":"Bin Xin","orcid":"https://orcid.org/0000-0001-9989-0418"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Xin","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing, 100081, China","Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing, 100081, China","School of Automation, Beijing Institute of Technology, Beijing, 100081, China"],"raw_orcid":"https://orcid.org/0000-0001-9989-0418","affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing, 100081, China","institution_ids":["https://openalex.org/I4210165198"]},{"raw_affiliation_string":"Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing, 100081, China","institution_ids":[]},{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, 100081, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":null,"fwci":2.0465,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.87597876,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"20","issue":"1","first_page":"18","last_page":"31"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/spanning-tree","display_name":"Spanning tree","score":0.7740687727928162},{"id":"https://openalex.org/keywords/minimum-spanning-tree","display_name":"Minimum spanning tree","score":0.6941123604774475},{"id":"https://openalex.org/keywords/auction-algorithm","display_name":"Auction algorithm","score":0.6328274607658386},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5916916728019714},{"id":"https://openalex.org/keywords/reverse-delete-algorithm","display_name":"Reverse-delete algorithm","score":0.5481911897659302},{"id":"https://openalex.org/keywords/euclidean-minimum-spanning-tree","display_name":"Euclidean minimum spanning tree","score":0.5338168144226074},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5143755078315735},{"id":"https://openalex.org/keywords/kruskals-algorithm","display_name":"Kruskal's algorithm","score":0.49159154295921326},{"id":"https://openalex.org/keywords/distributed-minimum-spanning-tree","display_name":"Distributed minimum spanning tree","score":0.49107813835144043},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4861180782318115},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4811502695083618},{"id":"https://openalex.org/keywords/prims-algorithm","display_name":"Prim's algorithm","score":0.4719518721103668},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.46580132842063904},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.4404899477958679},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.43399718403816223},{"id":"https://openalex.org/keywords/greedy-algorithm","display_name":"Greedy algorithm","score":0.4239659309387207},{"id":"https://openalex.org/keywords/vertex","display_name":"Vertex (graph theory)","score":0.41547542810440063},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28852957487106323},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2864488959312439},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28377771377563477},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.1522957682609558},{"id":"https://openalex.org/keywords/auction-theory","display_name":"Auction theory","score":0.12061184644699097},{"id":"https://openalex.org/keywords/revenue-equivalence","display_name":"Revenue equivalence","score":0.08552432060241699},{"id":"https://openalex.org/keywords/common-value-auction","display_name":"Common value auction","score":0.07909587025642395}],"concepts":[{"id":"https://openalex.org/C64331007","wikidata":"https://www.wikidata.org/wiki/Q831672","display_name":"Spanning tree","level":2,"score":0.7740687727928162},{"id":"https://openalex.org/C13743678","wikidata":"https://www.wikidata.org/wiki/Q240464","display_name":"Minimum spanning tree","level":2,"score":0.6941123604774475},{"id":"https://openalex.org/C74979957","wikidata":"https://www.wikidata.org/wiki/Q4819604","display_name":"Auction algorithm","level":5,"score":0.6328274607658386},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5916916728019714},{"id":"https://openalex.org/C199346575","wikidata":"https://www.wikidata.org/wiki/Q4925151","display_name":"Reverse-delete algorithm","level":4,"score":0.5481911897659302},{"id":"https://openalex.org/C145685049","wikidata":"https://www.wikidata.org/wiki/Q4454941","display_name":"Euclidean minimum spanning tree","level":4,"score":0.5338168144226074},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5143755078315735},{"id":"https://openalex.org/C63645285","wikidata":"https://www.wikidata.org/wiki/Q797860","display_name":"Kruskal's algorithm","level":3,"score":0.49159154295921326},{"id":"https://openalex.org/C65949645","wikidata":"https://www.wikidata.org/wiki/Q5283163","display_name":"Distributed minimum spanning tree","level":3,"score":0.49107813835144043},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4861180782318115},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4811502695083618},{"id":"https://openalex.org/C1649724","wikidata":"https://www.wikidata.org/wiki/Q470813","display_name":"Prim's algorithm","level":4,"score":0.4719518721103668},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.46580132842063904},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.4404899477958679},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.43399718403816223},{"id":"https://openalex.org/C51823790","wikidata":"https://www.wikidata.org/wiki/Q504353","display_name":"Greedy algorithm","level":2,"score":0.4239659309387207},{"id":"https://openalex.org/C80899671","wikidata":"https://www.wikidata.org/wiki/Q1304193","display_name":"Vertex (graph theory)","level":3,"score":0.41547542810440063},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28852957487106323},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2864488959312439},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28377771377563477},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.1522957682609558},{"id":"https://openalex.org/C11276805","wikidata":"https://www.wikidata.org/wiki/Q771334","display_name":"Auction theory","level":3,"score":0.12061184644699097},{"id":"https://openalex.org/C143684077","wikidata":"https://www.wikidata.org/wiki/Q431186","display_name":"Revenue equivalence","level":4,"score":0.08552432060241699},{"id":"https://openalex.org/C163239763","wikidata":"https://www.wikidata.org/wiki/Q5153637","display_name":"Common value auction","level":2,"score":0.07909587025642395},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1631/fitee.1800551","is_oa":false,"landing_page_url":"https://doi.org/10.1631/fitee.1800551","pdf_url":null,"source":{"id":"https://openalex.org/S4210189857","display_name":"Frontiers of Information Technology & Electronic Engineering","issn_l":"2095-9184","issn":["2095-9184","2095-9230"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers of Information Technology &amp; Electronic Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1471578414","https://openalex.org/W1544032329","https://openalex.org/W2001394702","https://openalex.org/W2019738489","https://openalex.org/W2036551686","https://openalex.org/W2051542447","https://openalex.org/W2093284501","https://openalex.org/W2105848344","https://openalex.org/W2144827113","https://openalex.org/W2159017378","https://openalex.org/W2241478367","https://openalex.org/W2267012268","https://openalex.org/W2285657798","https://openalex.org/W2494595096","https://openalex.org/W2579187612","https://openalex.org/W2585078317","https://openalex.org/W2587913157","https://openalex.org/W2604812688","https://openalex.org/W2740745957","https://openalex.org/W2742700879","https://openalex.org/W2778711127","https://openalex.org/W2798000375","https://openalex.org/W2800786248","https://openalex.org/W2808196628","https://openalex.org/W2949613486","https://openalex.org/W3149951075"],"related_works":["https://openalex.org/W2381121915","https://openalex.org/W2390742649","https://openalex.org/W2899787781","https://openalex.org/W2387385213","https://openalex.org/W4380840098","https://openalex.org/W3016811403","https://openalex.org/W2477124885","https://openalex.org/W2589768050","https://openalex.org/W2353025557","https://openalex.org/W2363076693"],"abstract_inverted_index":{"The":[0,163,177,223,233],"multi-robot":[1,18],"coverage":[2,39,57,88,194,200],"motion":[3],"planning":[4],"(MCMP)":[5],"problem":[6],"in":[7,17,173,244],"which":[8],"every":[9],"reachable":[10],"area":[11],"must":[12],"be":[13,73,203],"covered":[14],"is":[15,46,53,166,183,226],"common":[16],"systems.":[19],"To":[20],"deal":[21],"with":[22,149,179,229],"the":[23,35,43,55,83,91,117,141,145,150,154,157,174,180,190,193,209,212,217,230,238,247,251],"MCMP":[24,214],"problem,":[25],"we":[26],"propose":[27],"an":[28,95,109,120],"efficient,":[29],"complete,":[30],"and":[31,156,171,216,250],"off-line":[32],"algorithm,":[33],"named":[34],"\u201cauction-based":[36],"spanning":[37,80,101,128,151,175],"tree":[38,81,102,129,152],"(A-STC)\u201d":[40],"algorithm.":[41],"First,":[42],"configuration":[44,256],"space":[45],"divided":[47],"into":[48],"mega":[49,67],"cells":[50],"whose":[51],"size":[52],"twice":[54],"minimum":[56],"range":[58],"of":[59,82,116,126,153,160,192,211,246],"a":[60,69,79,87,113,137,186],"robot.":[61,105],"Based":[62],"on":[63,169],"connection":[64],"relationships":[65,148],"among":[66],"cells,":[68],"graph":[70,84,118],"structure":[71],"can":[72,85,202],"obtained.":[74],"A":[75,133],"robot":[76,111,135,155],"that":[77,237],"circumnavigates":[78],"generate":[86],"trajectory.":[89,162],"Then,":[90],"proposed":[92,213,224],"algorithm":[93,215,225,240],"adopts":[94],"auction":[96,121,146,197],"mechanism":[97],"to":[98,140,144,188],"construct":[99],"one":[100],"for":[103,219,253],"each":[104],"In":[106],"this":[107],"mechanism,":[108],"auctioneer":[110,142],"chooses":[112],"suitable":[114],"vertex":[115],"as":[119,185],"item":[122],"from":[123],"neighboring":[124],"vertexes":[125,170],"its":[127,161],"by":[130],"heuristic":[131],"rules.":[132],"bidder":[134,178],"submits":[136],"proper":[138],"bid":[139,182],"according":[143],"vertexes\u2019":[147],"estimated":[158,164],"length":[159,165],"calculated":[167],"based":[168],"edges":[172],"tree.":[176],"highest":[181],"selected":[184],"winner":[187],"reduce":[189],"makespan":[191,252],"task.":[195],"After":[196],"processes,":[198],"acceptable":[199],"trajectories":[201],"planned":[204],"rapidly.":[205],"Computational":[206],"experiments":[207],"validate":[208],"effectiveness":[210],"method":[218],"estimating":[220],"trajectory":[221],"lengths.":[222],"also":[227],"compared":[228],"state-of-the-art":[231],"algorithms.":[232],"comparative":[234],"results":[235],"show":[236],"A-STC":[239],"has":[241],"apparent":[242],"advantages":[243],"terms":[245],"running":[248],"time":[249],"large":[254],"crowded":[255],"spaces.":[257]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":8}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
