{"id":"https://openalex.org/W2942188143","doi":"https://doi.org/10.3390/s19091994","title":"A Novel Cooperative Path Planning for Multi-robot Persistent Coverage with Obstacles and Coverage Period Constraints","display_name":"A Novel Cooperative Path Planning for Multi-robot Persistent Coverage with Obstacles and Coverage Period Constraints","publication_year":2019,"publication_date":"2019-04-28","ids":{"openalex":"https://openalex.org/W2942188143","doi":"https://doi.org/10.3390/s19091994","mag":"2942188143","pmid":"https://pubmed.ncbi.nlm.nih.gov/31035410"},"language":"en","primary_location":{"id":"doi:10.3390/s19091994","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19091994","pdf_url":"https://www.mdpi.com/1424-8220/19/9/1994/pdf?version=1556450482","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/19/9/1994/pdf?version=1556450482","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054378059","display_name":"Guibin Sun","orcid":"https://orcid.org/0000-0002-8729-2856"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guibin Sun","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China"],"raw_orcid":"https://orcid.org/0000-0002-8729-2856","affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101510785","display_name":"Rui Zhou","orcid":"https://orcid.org/0000-0003-2476-1130"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Zhou","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052111094","display_name":"Bin Di","orcid":"https://orcid.org/0000-0003-1748-1501"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bin Di","raw_affiliation_strings":["National Innovation Institute of Defense Technology, Academy of Military Sciences PLA China, Beijing 100071, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Innovation Institute of Defense Technology, Academy of Military Sciences PLA China, Beijing 100071, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100986153","display_name":"Zhuoning Dong","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuoning Dong","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083517876","display_name":"Yingxun Wang","orcid":"https://orcid.org/0000-0002-7544-4365"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingxun Wang","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5054378059"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.735,"has_fulltext":true,"cited_by_count":34,"citation_normalized_percentile":{"value":0.87848803,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"19","issue":"9","first_page":"1994","last_page":"1994"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9858999848365784,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9776999950408936,"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/path","display_name":"Path (computing)","score":0.7075400948524475},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6865290999412537},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6460089087486267},{"id":"https://openalex.org/keywords/cover","display_name":"Cover (algebra)","score":0.5894290208816528},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5625771284103394},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5581002831459045},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5477400422096252},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.498870849609375},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.49557220935821533},{"id":"https://openalex.org/keywords/travelling-salesman-problem","display_name":"Travelling salesman problem","score":0.453108012676239},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.45242205262184143},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.43790870904922485},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3348933458328247},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3152237832546234},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2452796995639801},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24065729975700378},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2205425500869751},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18490055203437805},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08897808194160461},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.08074775338172913}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7075400948524475},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6865290999412537},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6460089087486267},{"id":"https://openalex.org/C2780428219","wikidata":"https://www.wikidata.org/wiki/Q16952335","display_name":"Cover (algebra)","level":2,"score":0.5894290208816528},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5625771284103394},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5581002831459045},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5477400422096252},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.498870849609375},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.49557220935821533},{"id":"https://openalex.org/C175859090","wikidata":"https://www.wikidata.org/wiki/Q322212","display_name":"Travelling salesman problem","level":2,"score":0.453108012676239},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.45242205262184143},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.43790870904922485},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3348933458328247},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3152237832546234},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2452796995639801},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24065729975700378},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2205425500869751},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18490055203437805},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08897808194160461},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.08074775338172913},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s19091994","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19091994","pdf_url":"https://www.mdpi.com/1424-8220/19/9/1994/pdf?version=1556450482","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:31035410","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31035410","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:022c50c0d5e7428187177c10a4427e6b","is_oa":true,"landing_page_url":"https://doaj.org/article/022c50c0d5e7428187177c10a4427e6b","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 19, Iss 9, p 1994 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/19/9/1994/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19091994","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:6539886","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6539886","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s19091994","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19091994","pdf_url":"https://www.mdpi.com/1424-8220/19/9/1994/pdf?version=1556450482","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1893909341","display_name":null,"funder_award_id":"61573042","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5950694179","display_name":null,"funder_award_id":"61773031","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":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2942188143.pdf","grobid_xml":"https://content.openalex.org/works/W2942188143.grobid-xml"},"referenced_works_count":53,"referenced_works":["https://openalex.org/W171569338","https://openalex.org/W1584030176","https://openalex.org/W1987877930","https://openalex.org/W1988265510","https://openalex.org/W1998391576","https://openalex.org/W2000232527","https://openalex.org/W2019738489","https://openalex.org/W2025291543","https://openalex.org/W2030415493","https://openalex.org/W2047632181","https://openalex.org/W2064626922","https://openalex.org/W2076406387","https://openalex.org/W2080164368","https://openalex.org/W2084252951","https://openalex.org/W2088195248","https://openalex.org/W2094365564","https://openalex.org/W2102099586","https://openalex.org/W2138358085","https://openalex.org/W2155005783","https://openalex.org/W2160179157","https://openalex.org/W2164197363","https://openalex.org/W2166165118","https://openalex.org/W2171226160","https://openalex.org/W2326834978","https://openalex.org/W2343037477","https://openalex.org/W2343660268","https://openalex.org/W2345111710","https://openalex.org/W2515926042","https://openalex.org/W2521993697","https://openalex.org/W2533609708","https://openalex.org/W2582115406","https://openalex.org/W2585233213","https://openalex.org/W2597117901","https://openalex.org/W2598286865","https://openalex.org/W2604888761","https://openalex.org/W2618547256","https://openalex.org/W2742340762","https://openalex.org/W2743175037","https://openalex.org/W2744683172","https://openalex.org/W2746024317","https://openalex.org/W2755953367","https://openalex.org/W2774242658","https://openalex.org/W2788455665","https://openalex.org/W2789773866","https://openalex.org/W2790310824","https://openalex.org/W2794197953","https://openalex.org/W2794327156","https://openalex.org/W2800337392","https://openalex.org/W2897475330","https://openalex.org/W2949613486","https://openalex.org/W3106014386","https://openalex.org/W3158940377","https://openalex.org/W6704493403"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W4380590094","https://openalex.org/W3043170174","https://openalex.org/W2906946336","https://openalex.org/W1971413691"],"abstract_inverted_index":{"In":[0,45],"this":[1,47],"paper,":[2],"a":[3,50],"multi-robot":[4],"persistent":[5,15],"coverage":[6,16,19,39,89,122,175,181],"of":[7,10,42,75,105,137,140,178,187],"the":[8,29,38,73,82,85,97,103,106,110,113,117,121,128,135,141,154,166,173,185],"region":[9,86],"interest":[11],"is":[12,169,190],"considered,":[13],"where":[14],"and":[17,71,125,159,180,184],"cooperative":[18,174],"are":[20],"addressed":[21],"simultaneously.":[22],"Previous":[23],"works":[24],"have":[25],"mainly":[26],"concentrated":[27],"on":[28,134],"paths":[30],"that":[31,165],"allow":[32],"for":[33,53,131],"repeated":[34],"coverage,":[35],"but":[36],"ignored":[37],"period":[40,123,182],"requirements":[41,90],"each":[43,132,145],"sub-region.":[44],"contrast,":[46],"paper":[48],"presents":[49],"combinatorial":[51],"approach":[52,111,168],"path":[54,115],"planning,":[55],"which":[56],"aims":[57],"to":[58,87,101,152,171],"cover":[59,153],"mission":[60],"domains":[61],"with":[62,91],"different":[63,155],"task":[64,156],"periods":[65],"while":[66],"guaranteeing":[67],"both":[68],"obstacle":[69],"avoidance":[70],"minimizing":[72],"number":[74,186],"robots":[76,188],"used.":[77],"The":[78,161],"algorithm":[79],"first":[80],"deploys":[81],"sensors":[83],"in":[84,176],"satisfy":[88],"minimum":[92],"cost.":[93],"Then":[94],"it":[95,126],"solves":[96],"travelling":[98],"salesman":[99],"problem":[100],"obtain":[102],"frame":[104],"closed":[107,114,129,142,150],"path.":[108,143],"Finally,":[109],"partitions":[112],"into":[116],"fewest":[118],"segments":[119,139],"under":[120],"constraints,":[124,183],"generates":[127],"route":[130,151],"robot":[133,146],"basis":[136],"portioned":[138],"Therefore,":[144],"can":[147],"circumnavigate":[148],"one":[149],"areas":[157],"completely":[158],"persistently.":[160],"numerical":[162],"simulations":[163],"show":[164],"proposed":[167],"feasible":[170],"implement":[172],"consideration":[177],"obstacles":[179],"used":[189],"also":[191],"minimized.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
