{"id":"https://openalex.org/W7134983597","doi":"https://doi.org/10.48550/arxiv.2603.09596","title":"A Generalized Voronoi Graph based Coverage Control Approach for Non-Convex Environment","display_name":"A Generalized Voronoi Graph based Coverage Control Approach for Non-Convex Environment","publication_year":2026,"publication_date":"2026-03-10","ids":{"openalex":"https://openalex.org/W7134983597","doi":"https://doi.org/10.48550/arxiv.2603.09596"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.09596","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.09596","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.09596","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128743291","display_name":"Zuyi Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Guo, Zuyi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128720836","display_name":"Ronghao Zheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Ronghao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128705989","display_name":"Meiqin Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Meiqin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5124068888","display_name":"Senlin Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Senlin","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5128743291"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.6097999811172485,"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":0.6097999811172485,"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":0.1145000010728836,"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":0.04690000042319298,"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/voronoi-diagram","display_name":"Voronoi diagram","score":0.6284999847412109},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5162000060081482},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5101000070571899},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4950000047683716},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4348999857902527},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3531999886035919},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34389999508857727}],"concepts":[{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.6284999847412109},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.573199987411499},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5162000060081482},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5101000070571899},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4950000047683716},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4490000009536743},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4348999857902527},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3531999886035919},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34389999508857727},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.34119999408721924},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3375999927520752},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.3305000066757202},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32249999046325684},{"id":"https://openalex.org/C3018263672","wikidata":"https://www.wikidata.org/wiki/Q1296251","display_name":"Efficient algorithm","level":2,"score":0.31139999628067017},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.28949999809265137},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2856999933719635},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2750000059604645},{"id":"https://openalex.org/C148764684","wikidata":"https://www.wikidata.org/wiki/Q621751","display_name":"Approximation algorithm","level":2,"score":0.26759999990463257},{"id":"https://openalex.org/C311688","wikidata":"https://www.wikidata.org/wiki/Q2393193","display_name":"Time complexity","level":2,"score":0.2599000036716461}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.09596","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.09596","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.09596","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.09596","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"To":[0],"address":[1],"the":[2,25,45,65,73,77,87,109,114],"challenge":[3],"of":[4,79,113],"efficient":[5],"coverage":[6,20,108],"by":[7,102],"multi-robot":[8],"systems":[9],"in":[10,81],"non-convex":[11,46],"regions":[12],"with":[13,86],"multiple":[14,51],"obstacles,":[15],"this":[16],"paper":[17],"proposes":[18],"a":[19,57,103],"control":[21],"method":[22,115],"based":[23,53],"on":[24,54],"Generalized":[26],"Voronoi":[27],"Graph":[28],"(GVG),":[29],"which":[30,63],"has":[31],"two":[32],"phases:":[33],"Load-Balancing":[34,42],"Algorithm":[35,43],"phase":[36],"and":[37,118],"Collaborative":[38,95],"Coverage":[39,96],"phase.":[40],"In":[41,94],"phase,":[44,97],"region":[47],"is":[48,61,84,100,116,121],"partitioned":[49],"into":[50],"sub-regions":[52],"GVG.":[55],"Besides,":[56],"weighted":[58],"load-balancing":[59],"algorithm":[60],"developed,":[62],"considers":[64],"quality":[66,89],"differences":[67],"among":[68],"sub-regions.":[69],"By":[70],"iteratively":[71],"optimizing":[72],"robot":[74,99],"allocation":[75],"ratio,":[76],"number":[78],"robots":[80],"each":[82,98],"sub-region":[83,88],"matched":[85],"to":[90,106],"achieve":[91],"load":[92],"balance.":[93],"controlled":[101],"new":[104],"controller":[105],"effectively":[107],"region.":[110],"The":[111],"convergence":[112],"proved":[117],"its":[119],"performance":[120],"evaluated":[122],"through":[123],"simulations.":[124]},"counts_by_year":[],"updated_date":"2026-03-12T06:18:43.230356","created_date":"2026-03-12T00:00:00"}