{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,22]],"date-time":"2026-05-22T10:06:18Z","timestamp":1779444378085,"version":"3.53.1"},"publisher-location":"Singapore","reference-count":25,"publisher":"Springer Nature Singapore","isbn-type":[{"value":"9789819509843","type":"print"},{"value":"9789819509850","type":"electronic"}],"license":[{"start":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T00:00:00Z","timestamp":1759276800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T00:00:00Z","timestamp":1759276800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2026]]},"DOI":"10.1007\/978-981-95-0985-0_18","type":"book-chapter","created":{"date-parts":[[2025,9,30]],"date-time":"2025-09-30T22:28:38Z","timestamp":1759271318000},"page":"220-234","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["From Single-Task Swarming to\u00a0Multi-task Heterogeneous Swarming for\u00a0Solving Non-uniform Area Coverage Problems"],"prefix":"10.1007","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1217-1072","authenticated-orcid":false,"given":"Sara","family":"Mohamed","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7187-0474","authenticated-orcid":false,"given":"Kathryn","family":"Kasmarik","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4954-3631","authenticated-orcid":false,"given":"Essam","family":"Debie","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0222-430X","authenticated-orcid":false,"given":"Matthew","family":"Garratt","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2025,10,1]]},"reference":[{"issue":"1","key":"18_CR1","doi-asserted-by":"publisher","first-page":"28","DOI":"10.5772\/52765","volume":"10","author":"JJ Acevedo","year":"2013","unstructured":"Acevedo, J.J., Arrue, B.C., Maza, I., Ollero, A.: Distributed approach for coverage and patrolling missions with a team of heterogeneous aerial robots under communication constraints. Int. J. Adv. Rob. Syst. 10(1), 28 (2013)","journal-title":"Int. J. Adv. Rob. Syst."},{"key":"18_CR2","doi-asserted-by":"crossref","unstructured":"Arnold, R., Jablonski, J., Abruzzo, B., Mezzacappa, E.: Heterogeneous UAV multi-role swarming behaviors for search and rescue. In: 2020 IEEE Conference on Cognitive and Computational Aspects of Situation Management. IEEE (2020)","DOI":"10.1109\/CogSIMA49017.2020.9215994"},{"key":"18_CR3","doi-asserted-by":"crossref","unstructured":"Bettini, M., Shankar, A., Prorok, A.: Heterogeneous multi-robot reinforcement learning. In: Proceedings of the 2023 International Conference on Autonomous Agents and Multiagent Systems, pp. 1485\u20131494. AAMAS \u201923, International Foundation for Autonomous Agents and Multiagent Systems, Richland, SC (2023)","DOI":"10.65109\/SLOB2372"},{"key":"18_CR4","doi-asserted-by":"crossref","unstructured":"Carbone, C., et al.: Monitoring and mapping of crop fields with UAV swarms based on information gain. In: Distributed Autonomous Robotic Systems: 15th International Symposium, pp. 306\u2013319. Springer (2022)","DOI":"10.1007\/978-3-030-92790-5_24"},{"key":"18_CR5","doi-asserted-by":"crossref","unstructured":"Chibaya, C., Bangay, S.: Flock inspired area coverage using wireless BOID-like sensor agents. In: Tenth International Conference on Computer Modeling and Simulation, pp. 144\u2013149. IEEE (2008)","DOI":"10.1109\/UKSIM.2008.102"},{"key":"18_CR6","doi-asserted-by":"crossref","unstructured":"Gao, W., Booker, M., Adiwahono, A., Yuan, M., Wang, J., Yun, Y.W.: An improved frontier-based approach for autonomous exploration. In: 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV). IEEE (2018)","DOI":"10.1109\/ICARCV.2018.8581245"},{"key":"18_CR7","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2024.109522","volume":"139","author":"R Ghanem","year":"2025","unstructured":"Ghanem, R., Ali, I.M., Abpeikar, S., Kasmarik, K., Garratt, M.: Optimizing and predicting swarming collective motion performance for coverage problems solving: a simulation-optimization approach. Eng. Appl. Artif. Intell. 139, 109522 (2025)","journal-title":"Eng. Appl. Artif. Intell."},{"key":"18_CR8","doi-asserted-by":"crossref","unstructured":"Hollinger, G.A., et al.: Underwater data collection using robotic sensor networks. IEEE J. Sel. Areas Commun. 30(5) (2012)","DOI":"10.1109\/JSAC.2012.120606"},{"key":"18_CR9","doi-asserted-by":"crossref","unstructured":"Kengyel, D., Hamann, H., Zahadat, P., Radspieler, G., Wotawa, F., Schmickl, T.: Potential of heterogeneity in collective behaviors: a case study on heterogeneous swarms. In: PRIMA 2015: Principles and Practice of Multi-Agent Systems: 18th International Conference, Proceedings 13, pp. 201\u2013217. Springer (2015)","DOI":"10.1007\/978-3-319-25524-8_13"},{"key":"18_CR10","doi-asserted-by":"crossref","unstructured":"Kennedy, J., Eberhart, R.: Particle swarm optimization. In: Proceedings of ICNN\u201995-International Conference on Neural Networks. vol.\u00a04. IEEE (1995)","DOI":"10.1109\/ICNN.1995.488968"},{"issue":"2","key":"18_CR11","doi-asserted-by":"publisher","first-page":"33","DOI":"10.3390\/soilsystems3020033","volume":"3","author":"J Krenz","year":"2019","unstructured":"Krenz, J., Greenwood, P., Kuhn, N.J.: Soil degradation mapping in drylands using unmanned aerial vehicle (UAV) data. Soil Systems 3(2), 33 (2019)","journal-title":"Soil Systems"},{"issue":"2","key":"18_CR12","doi-asserted-by":"publisher","first-page":"172988062210916","DOI":"10.1177\/17298806221091685","volume":"19","author":"L Li","year":"2022","unstructured":"Li, L., et al.: Complete coverage problem of multiple robots with different velocities. Int. J. Adv. Rob. Syst. 19(2), 17298806221091684 (2022)","journal-title":"Int. J. Adv. Rob. Syst."},{"key":"18_CR13","doi-asserted-by":"crossref","unstructured":"Liang, H., Su, H., Wang, X., Chen, M.Z.: Swarm aggregations of heterogeneous multi-agent systems. Int. J. Control 87(12) (2014)","DOI":"10.1080\/00207179.2014.935959"},{"issue":"4","key":"18_CR14","doi-asserted-by":"publisher","first-page":"88","DOI":"10.1007\/s10846-022-01690-5","volume":"105","author":"ME Longa","year":"2022","unstructured":"Longa, M.E., Tsourdos, A., Inalhan, G.: Human-machine network through bio-inspired decentralized swarm intelligence and heterogeneous teaming in SAR operations. J. Intell. Robotic Syst. 105(4), 88 (2022)","journal-title":"J. Intell. Robotic Syst."},{"issue":"10","key":"18_CR15","doi-asserted-by":"publisher","first-page":"3160","DOI":"10.1109\/JSAC.2021.3088718","volume":"39","author":"Z Mou","year":"2021","unstructured":"Mou, Z., Zhang, Y., Gao, F., Wang, H., Zhang, T., Han, Z.: Deep reinforcement learning based three-dimensional area coverage with UAV swarm. IEEE J. Sel. Areas Commun. 39(10), 3160\u20133176 (2021)","journal-title":"IEEE J. Sel. Areas Commun."},{"key":"18_CR16","doi-asserted-by":"crossref","unstructured":"Pang, B., Zhang, C., Song, Y., Wang, H.: Self-organized task allocation in swarm robotics foraging based on dynamical response threshold approach. In: 2017 18th International Conference on Advanced Robotics (ICAR) (2017)","DOI":"10.1109\/ICAR.2017.8023527"},{"issue":"10","key":"18_CR17","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0140950","volume":"10","author":"A Reina","year":"2015","unstructured":"Reina, A., Valentini, G., Fern\u00e1ndez-Oto, C., Dorigo, M., Trianni, V.: A design pattern for decentralised decision making. PLoS ONE 10(10), e0140950 (2015)","journal-title":"PLoS ONE"},{"key":"18_CR18","doi-asserted-by":"crossref","unstructured":"Reynolds, C.W.: Flocks, herds and schools: a distributed behavioral model. In: Proceedings of the 14th annual conference on Computer graphics and interactive techniques, pp. 25\u201334. SIGGRAPH \u201987, Association for Computing Machinery, New York, NY, USA (1987)","DOI":"10.1145\/37401.37406"},{"issue":"1","key":"18_CR19","first-page":"96","volume":"21","author":"AT Sadiq","year":"2021","unstructured":"Sadiq, A.T., Raheem, F.A., Abbas, N.: Ant colony algorithm improvement for robot arm path planning optimization based on D* strategy. Int. J. Mech. Mechatron. Eng. 21(1), 96\u2013111 (2021)","journal-title":"Int. J. Mech. Mechatron. Eng."},{"key":"18_CR20","doi-asserted-by":"crossref","unstructured":"\u015eahin, E.: Swarm robotics: from sources of inspiration to domains of application. In: International Workshop on Swarm Robotics, pp. 10\u201320. Springer (2004)","DOI":"10.1007\/978-3-540-30552-1_2"},{"issue":"4","key":"18_CR21","doi-asserted-by":"publisher","first-page":"269","DOI":"10.3390\/drones7040269","volume":"7","author":"MM Shahzad","year":"2023","unstructured":"Shahzad, M.M., et al.: A review of swarm robotics in a nutshell. Drones 7(4), 269 (2023)","journal-title":"Drones"},{"key":"18_CR22","doi-asserted-by":"crossref","unstructured":"Sueoka, Y., Okada, M., Tsunoda, Y., Sugimoto, Y., Osuka, K.: Exploration of a simple navigation method for swarm robots pioneered by heterogeneity. J. Robotics Mechatron. 35(4) (2023)","DOI":"10.20965\/jrm.2023.p0948"},{"key":"18_CR23","doi-asserted-by":"publisher","DOI":"10.1016\/j.swevo.2022.101171","volume":"75","author":"VP Tran","year":"2022","unstructured":"Tran, V.P., Garratt, M.A., Kasmarik, K., Anavatti, S.G., Abpeikar, S.: Frontier-led swarming: robust multi-robot coverage of unknown environments. Swarm Evol. Comput. 75, 101171 (2022)","journal-title":"Swarm Evol. Comput."},{"key":"18_CR24","unstructured":"Weisstein, E.W.: Moore neighborhood. From MathWorld\u2013A Wolfram Web Resource (2005)"},{"key":"18_CR25","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2023.119604","volume":"217","author":"Y Xia","year":"2023","unstructured":"Xia, Y., Chen, C., Liu, Y., Shi, J., Liu, Z.: Two-layer path planning for multi-area coverage by a cooperative ground vehicle and drone system. Expert Syst. Appl. 217, 119604 (2023)","journal-title":"Expert Syst. Appl."}],"container-title":["Lecture Notes in Computer Science","Advances in Swarm Intelligence"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-981-95-0985-0_18","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,22]],"date-time":"2026-05-22T09:34:39Z","timestamp":1779442479000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-981-95-0985-0_18"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,10,1]]},"ISBN":["9789819509843","9789819509850"],"references-count":25,"URL":"https:\/\/doi.org\/10.1007\/978-981-95-0985-0_18","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"value":"0302-9743","type":"print"},{"value":"1611-3349","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,10,1]]},"assertion":[{"value":"1 October 2025","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ICSI","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on Swarm Intelligence","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Yokohama","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Japan","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2025","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"11 July 2025","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"15 July 2025","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"16","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"swarm2025","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/www.iasei.org\/icsi2025\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}