{"id":"https://openalex.org/W4401245466","doi":"https://doi.org/10.3390/info15080462","title":"Safe Coverage Control of Multi-Agent Systems and Its Verification in ROS/Gazebo Environment","display_name":"Safe Coverage Control of Multi-Agent Systems and Its Verification in ROS/Gazebo Environment","publication_year":2024,"publication_date":"2024-08-02","ids":{"openalex":"https://openalex.org/W4401245466","doi":"https://doi.org/10.3390/info15080462"},"language":"en","primary_location":{"id":"doi:10.3390/info15080462","is_oa":true,"landing_page_url":"https://doi.org/10.3390/info15080462","pdf_url":"https://www.mdpi.com/2078-2489/15/8/462/pdf?version=1722600460","source":{"id":"https://openalex.org/S4210219776","display_name":"Information","issn_l":"2078-2489","issn":["2078-2489"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Information","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2078-2489/15/8/462/pdf?version=1722600460","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113317558","display_name":"Fidelia Chaitra Siri","orcid":"https://orcid.org/0000-0003-2938-8152"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fidelia Chaitra Siri","raw_affiliation_strings":["Department of Information Science and Engineering, Ritsumeikan University, Kyoto 567-8570, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Information Science and Engineering, Ritsumeikan University, Kyoto 567-8570, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101905364","display_name":"Jie Song","orcid":"https://orcid.org/0009-0001-4760-2629"},"institutions":[{"id":"https://openalex.org/I4210111835","display_name":"Osaka Health Science University","ror":"https://ror.org/01tvqd679","country_code":"JP","type":"education","lineage":["https://openalex.org/I4210111835"]},{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jie Song","raw_affiliation_strings":["Department of Information Science and Technology, Osaka University, Osaka 565-0871, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Information Science and Technology, Osaka University, Osaka 565-0871, Japan","institution_ids":["https://openalex.org/I4210111835","https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073469455","display_name":"Mikhail Svinin","orcid":"https://orcid.org/0000-0003-2459-2250"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Mikhail Svinin","raw_affiliation_strings":["Department of Information Science and Engineering, Ritsumeikan University, Kyoto 567-8570, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Information Science and Engineering, Ritsumeikan University, Kyoto 567-8570, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5073469455"],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":{"value":1400,"currency":"CHF","value_usd":1515},"apc_paid":{"value":1400,"currency":"CHF","value_usd":1515},"fwci":0.3663,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.59662426,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"15","issue":"8","first_page":"462","last_page":"462"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9986000061035156,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9986000061035156,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9966999888420105,"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":0.9962000250816345,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.6777690052986145},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6595107316970825},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6283468008041382},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6013713479042053},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5924317240715027},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5428180694580078},{"id":"https://openalex.org/keywords/voronoi-diagram","display_name":"Voronoi diagram","score":0.5203035473823547},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4524572491645813},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4219832718372345},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4045400619506836},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.37988823652267456},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3309953808784485},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3228816092014313},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3038068413734436},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19252228736877441},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09072256088256836}],"concepts":[{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6777690052986145},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6595107316970825},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6283468008041382},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6013713479042053},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5924317240715027},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5428180694580078},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.5203035473823547},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4524572491645813},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4219832718372345},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4045400619506836},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.37988823652267456},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3309953808784485},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3228816092014313},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3038068413734436},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19252228736877441},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09072256088256836},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/info15080462","is_oa":true,"landing_page_url":"https://doi.org/10.3390/info15080462","pdf_url":"https://www.mdpi.com/2078-2489/15/8/462/pdf?version=1722600460","source":{"id":"https://openalex.org/S4210219776","display_name":"Information","issn_l":"2078-2489","issn":["2078-2489"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Information","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:021127c77f874e58917cfc1ee4d5ff33","is_oa":true,"landing_page_url":"https://doaj.org/article/021127c77f874e58917cfc1ee4d5ff33","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Information, Vol 15, Iss 8, p 462 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/info15080462","is_oa":true,"landing_page_url":"https://doi.org/10.3390/info15080462","pdf_url":"https://www.mdpi.com/2078-2489/15/8/462/pdf?version=1722600460","source":{"id":"https://openalex.org/S4210219776","display_name":"Information","issn_l":"2078-2489","issn":["2078-2489"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Information","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4401245466.pdf"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1969886524","https://openalex.org/W2035465647","https://openalex.org/W2114476723","https://openalex.org/W2949477910","https://openalex.org/W2963534555","https://openalex.org/W2968945909","https://openalex.org/W3038757108","https://openalex.org/W3058283940","https://openalex.org/W3089846098","https://openalex.org/W3091228207","https://openalex.org/W3094402048","https://openalex.org/W3115316596","https://openalex.org/W3122842902","https://openalex.org/W3127194649","https://openalex.org/W3164007692","https://openalex.org/W3187046409","https://openalex.org/W3189228481","https://openalex.org/W3203015737","https://openalex.org/W4200484849","https://openalex.org/W4205992844","https://openalex.org/W4210521410","https://openalex.org/W4214771064","https://openalex.org/W4310622550","https://openalex.org/W4375858793","https://openalex.org/W4376623856","https://openalex.org/W4385989031","https://openalex.org/W4386178854","https://openalex.org/W4391260806","https://openalex.org/W4392207733","https://openalex.org/W4399593289","https://openalex.org/W6787075308","https://openalex.org/W6861707416"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2023024008","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1911254468","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446"],"abstract_inverted_index":{"This":[0,20,50,103],"paper":[1],"presents":[2],"safe":[3,53,117],"coverage":[4,54,118],"control":[5,16,55,119],"algorithms":[6,56],"for":[7,34,57,73,116,134],"multi-agent":[8,58,74,124],"systems,":[9,125],"integrating":[10],"Centroidal":[11],"Voronoi":[12],"Tessellation":[13],"(CVT)":[14],"and":[15,26,32,42,67,90,114,130],"barrier":[17],"functions":[18],"(CBFs).":[19],"study":[21,104],"aims":[22],"to":[23],"ensure":[24],"safety":[25,66],"spatial":[27,68],"optimization":[28],"by":[29],"combining":[30],"CVT":[31,113],"CBFs":[33,115],"obstacle":[35,121],"avoidance,":[36],"testing":[37],"the":[38,44,87,110,131],"controller":[39,79],"through":[40,83],"simulations,":[41],"verifying":[43],"results":[45],"with":[46,93,120],"RT":[47,94],"mobile":[48],"robots.":[49],"development":[51],"of":[52,109,112],"systems":[59],"achieves":[60],"a":[61,106],"synergy":[62],"that":[63],"addresses":[64],"both":[65,127],"optimization,":[69],"which":[70],"are":[71],"crucial":[72],"systems.":[75],"The":[76],"proposed":[77],"CVT-CBF-based":[78],"has":[80],"been":[81],"validated":[82],"extensive":[84],"simulations":[85],"in":[86,99,123],"ROS/Gazebo":[88],"environment":[89],"physical":[91],"experiments":[92],"robots,":[95],"demonstrating":[96],"its":[97,128],"effectiveness":[98],"achieving":[100],"collision-free":[101],"coverage.":[102],"provides":[105],"comprehensive":[107],"understanding":[108],"integration":[111],"avoidance":[122],"highlighting":[126],"potential":[129],"necessary":[132],"considerations":[133],"practical":[135],"deployment.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T06:51:31.235846","created_date":"2025-10-10T00:00:00"}