{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,25]],"date-time":"2026-03-25T19:12:41Z","timestamp":1774465961840,"version":"3.50.1"},"reference-count":39,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2014,8,1]],"date-time":"2014-08-01T00:00:00Z","timestamp":1406851200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Appl Intell"],"published-print":{"date-parts":[[2015,3]]},"DOI":"10.1007\/s10489-014-0571-8","type":"journal-article","created":{"date-parts":[[2014,7,31]],"date-time":"2014-07-31T02:33:44Z","timestamp":1406774024000},"page":"157-173","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":39,"title":["BoB: an online coverage approach for multi-robot systems"],"prefix":"10.1007","volume":"42","author":[{"given":"Hoang Huu","family":"Viet","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Viet-Hung","family":"Dang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"SeungYoon","family":"Choi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tae Choong","family":"Chung","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2014,8,1]]},"reference":[{"key":"571_CR1","doi-asserted-by":"crossref","unstructured":"Agmon N, Hazon N, Kaminka GA (2006) Constructing spanning trees for efficient multi-robot coverage. In: Proceedings of the 2006 IEEE international conference on robotics and automation, Orlando, Florida, USA, pp 1698\u20131703","DOI":"10.1109\/ROBOT.2006.1641951"},{"issue":"1","key":"571_CR2","doi-asserted-by":"crossref","first-page":"143","DOI":"10.1007\/s10472-009-9121-1","volume":"52","author":"N Agmon","year":"2008","unstructured":"Agmon N, Hazon N, Kaminka GA (2008) The giving tree: constructing trees for efficient offline and online multi-robot coverage. J Ann Math Artif Intell 52(1):143\u2013168","journal-title":"J Ann Math Artif Intell"},{"key":"571_CR3","doi-asserted-by":"crossref","unstructured":"Ahmadi M., Stone P. (2006) A multi-robot system for continuous area sweeping tasks. In: Proceedings of the 2006 IEEE international conference on robotics and automation, Orlando, Florida, USA, pp 1724\u20131729","DOI":"10.1109\/ROBOT.2006.1641955"},{"issue":"1","key":"571_CR4","first-page":"7","volume":"1","author":"A Botea","year":"2004","unstructured":"Botea A, Muller M, Schaeffer J (2004) Near optimal hierarchical path-finding. J Game Dev 1(1):7\u201328","journal-title":"J Game Dev"},{"issue":"1","key":"571_CR5","doi-asserted-by":"crossref","first-page":"247","DOI":"10.1023\/A:1008958800904","volume":"9","author":"H Choset","year":"2000","unstructured":"Choset H (2000) Coverage of known spaces: the boustrophedon cellular decomposition. Auton Robot 9(1):247\u2013253","journal-title":"Auton Robot"},{"issue":"1","key":"571_CR6","doi-asserted-by":"crossref","first-page":"113?","DOI":"10.1023\/A:1016639210559","volume":"31","author":"H Choset","year":"2001","unstructured":"Choset H (2001) Coverage for robotics ? a survey of recent results. Ann Math Artif Intell 31(1):113?-126","journal-title":"Ann Math Artif Intell"},{"key":"571_CR7","doi-asserted-by":"crossref","unstructured":"Choset H, Pignon P (1997) Coverage path planning: The boustrophedon cellular decomposition. In: Proceedings of the international conference on field and service Robotics, Canberra, Australia","DOI":"10.1007\/978-1-4471-1273-0_32"},{"issue":"1","key":"571_CR8","doi-asserted-by":"crossref","first-page":"533","DOI":"10.1613\/jair.2994","volume":"39","author":"K Daniel","year":"2010","unstructured":"Daniel K, Nash A, Koenig S (2010) Theta*: any-angle path planning on grids. J Artif Intell Res 39(1):533\u2013579","journal-title":"J Artif Intell Res"},{"key":"571_CR9","unstructured":"Dias MB, Stentz A A market approach to multirobot coordination. Tech. rep. CMU-RI -TR-01-26"},{"key":"571_CR10","doi-asserted-by":"crossref","unstructured":"Dias MB, Stentz A (2003) A comparative study between centralized, market-based, and behavioral multirobot coordination approaches. In: Proceedings of the 2003 IEEE\/RSJ internaltional conference on intelligent robots and systems, Las Vegas, Nevada, USA, pp 2279\u20132284","DOI":"10.1109\/IROS.2003.1249210"},{"issue":"1","key":"571_CR11","doi-asserted-by":"crossref","first-page":"269","DOI":"10.1007\/BF01386390","volume":"1","author":"EW Dijkstra","year":"1959","unstructured":"Dijkstra EW (1959) A note on two problems in connexion with graphs. Numer Math 1(1):269\u2013271","journal-title":"Numer Math"},{"issue":"2","key":"571_CR12","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1002\/rob.20109","volume":"23","author":"D Ferguson","year":"2006","unstructured":"Ferguson D, Stentz A (2006) Using interpolation to improve path planning: the field d* algorithm. J Field Robot 23(2):79\u2013101","journal-title":"J Field Robot"},{"issue":"4","key":"571_CR13","doi-asserted-by":"crossref","first-page":"77","DOI":"10.1023\/A:1016610507833","volume":"31","author":"Y Gabriely","year":"2001","unstructured":"Gabriely Y, Rimon E (2001) Spanning-tree based coverage of continuous areas by a mobile robot. Ann Math Artif Intell 31(4):77\u201398","journal-title":"Ann Math Artif Intell"},{"key":"571_CR14","doi-asserted-by":"crossref","unstructured":"Gerlein E, Gonzalez E (2011) Multirobot cooperative model applied to coverage of unknown regions. In: Dr. T. Yasuda (ed) Multi-Robot Systems, Trends and Development. InTech","DOI":"10.5772\/13241"},{"key":"571_CR15","doi-asserted-by":"crossref","unstructured":"Gonzalez E, Alvarez O, Diaz Y, Parra C, Bustacara C (2005) BSA: A complete coverage algorithm. In: Proceedings of the IEEE international conference on robotics and automation, Barcelona, Spain, pp 2040\u20132044","DOI":"10.1109\/ROBOT.2005.1570413"},{"key":"571_CR16","unstructured":"Guruprasad K, Wilson Z, Dasgupta P (2012) Complete coverage of an initially unknown environment by multiple robots using voronoi partition. In: Proceedings of the 2nd international conference on advances in control and optimization of dynamical systems. Bengaluru, India"},{"issue":"2","key":"571_CR17","doi-asserted-by":"crossref","first-page":"100","DOI":"10.1109\/TSSC.1968.300136","volume":"4","author":"PE Hart","year":"1968","unstructured":"Hart PE, Nilsson NJ, Raphael B (1968) A formal basis for the heuristic determination of minimum cost paths. IEEE Trans Syst Scie Cybern 4(2):100\u2013107","journal-title":"IEEE Trans Syst Scie Cybern"},{"key":"571_CR18","doi-asserted-by":"crossref","unstructured":"Hazon N, Kaminka GA (2005) Redundancy, efficiency and robustness in multi-robot coverage. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp 735\u2013741","DOI":"10.1109\/ROBOT.2005.1570205"},{"issue":"1","key":"571_CR19","doi-asserted-by":"crossref","first-page":"1102","DOI":"10.1016\/j.robot.2008.01.006","volume":"56","author":"N Hazon","year":"2008","unstructured":"Hazon N, Kaminka GA (2008) On redundancy, efficiency, and robustness in coverage for multiple robots. Robot Auton Syst 56(1):1102\u20131114","journal-title":"Robot Auton Syst"},{"key":"571_CR20","doi-asserted-by":"crossref","unstructured":"Hazon N, Mieli F, Kaminka GA (2006) Towards robust on-line multi-robot coverage. In: Proceedings of the 2006 IEEE international conference on robotics and Automation, Orlando, Florida, USA, pp 1710\u20131715","DOI":"10.1109\/ROBOT.2006.1641953"},{"key":"571_CR21","doi-asserted-by":"crossref","unstructured":"Jager M, Nebel B (2002) Dynamic decentralized area partitioning for cooperating cleaning robots. In: Proceedings of the 2002 IEEE international conference on robotics and automation, Washington, DC, USA, pp 3577\u20133582","DOI":"10.1109\/ROBOT.2002.1014264"},{"key":"571_CR22","doi-asserted-by":"crossref","unstructured":"Koenig S, Liu Y (2001) Terrain coverage with ant robots: a simulation study. In: Proceedings of the International Conference on Autonomous Agents, Montreal, QC, Canada, pp 600\u2013607","DOI":"10.1145\/375735.376463"},{"issue":"1","key":"571_CR23","doi-asserted-by":"crossref","first-page":"41","DOI":"10.1023\/A:1016665115585","volume":"31","author":"S Koenig","year":"2001","unstructured":"Koenig S, Szymanski B, Liu Y (2001) Efficient and inefficient ant coverage methods. Ann Math Artif Intell 31(1):41\u201376","journal-title":"Ann Math Artif Intell"},{"key":"571_CR24","doi-asserted-by":"crossref","unstructured":"Kong CS, Peng NA, Rekleitis I (2006) Distributed coverage with multi-robot system. Proceedings of the 2006 IEEE international conference on robotics and automation, Orlando, Florida, USA, pp 2423\u20132429","DOI":"10.1109\/ROBOT.2006.1642065"},{"key":"571_CR25","doi-asserted-by":"crossref","unstructured":"Lee JH, Choi JS, Lee BH, Lee KW (2009) Complete coverage path planning for cleaning task using multiple robots. In: Proceedings of the 2009 IEEE international conference on systems, man, and cybernetics, San Antonio, TX, USA, pp 3618\u20133622","DOI":"10.1109\/ICSMC.2009.5346856"},{"issue":"2","key":"571_CR26","doi-asserted-by":"crossref","first-page":"175","DOI":"10.1007\/s10489-011-0320-1","volume":"37","author":"M Mendonca","year":"2012","unstructured":"Mendonca M, de Arruda Jr FN (2012) Autonomous navigation system using event driven-fuzzy cognitive maps. Appl Intell 37(2):175\u2013188","journal-title":"Appl Intell"},{"key":"571_CR27","unstructured":"Min TW, Yin HK (1998) A decentralized approach for cooperative sweeping by multiple mobile robots. In: Proceedings of the 1998 IEEE\/RSJ international conference on intelligent robots and systems, Victoria, B.C., Canada, pp 380\u2013385"},{"key":"571_CR28","unstructured":"Nash A, Daniel K, Koenig S, Felner A (2007) Theta*: any-angle path planning on grids. In: Proceedings of the AAAI Conference on Artificial Intelligence, Vancouver, Canada, pp 1177\u20131183"},{"key":"571_CR29","doi-asserted-by":"crossref","unstructured":"Rekleitis I, Lee-Shue V, New AP, Choset H (2004) Limited communication, multi-robot team based coverage. In: Proceedings of the 2004 IEEE international conference on robotics and automation, New Orleans, LA, USA, pp 3462\u20133468","DOI":"10.1109\/ROBOT.2004.1308789"},{"issue":"1","key":"571_CR30","doi-asserted-by":"crossref","first-page":"109","DOI":"10.1007\/s10472-009-9120-2","volume":"52","author":"I Rekleitis","year":"2008","unstructured":"Rekleitis I, New AP, Rankin ES, Choset H (2008) Efficient boustrophedon multi-robot coverage: an algorithmic approach. J Ann Math Artif Intell 52(1):109\u2013142","journal-title":"J Ann Math Artif Intell"},{"key":"571_CR31","unstructured":"Russel SJ, Norvig P (2003) Artificial intelligence a modern approach, 2nd edn. Pearson Education"},{"issue":"3","key":"571_CR32","first-page":"195","volume":"25","author":"K Senthilkumar","year":"2010","unstructured":"Senthilkumar K, Bharadwaj K (2010) Multi-robot terrain coverage by constructing multiple spanning trees simultaneously. Int J Robot Autom 25(3):195\u2013203","journal-title":"Int J Robot Autom"},{"issue":"1","key":"571_CR33","doi-asserted-by":"crossref","first-page":"123","DOI":"10.1016\/j.robot.2011.09.005","volume":"60","author":"K Senthilkumar","year":"2012","unstructured":"Senthilkumar K, Bharadwaj K (2012) Multi-robot exploration and terrain coverage in an unknown environment. Robot Auton Syst 60(1):123\u2013132","journal-title":"Robot Auton Syst"},{"key":"571_CR34","doi-asserted-by":"crossref","unstructured":"Svennebring J, Koenig S (2003) Trail-laying robots for robust terrain coverage. In: Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, pp 75\u201382","DOI":"10.1109\/ROBOT.2003.1241576"},{"issue":"1","key":"571_CR35","doi-asserted-by":"crossref","first-page":"313","DOI":"10.1023\/B:AURO.0000025793.46961.f6","volume":"16","author":"J Svennebring","year":"2004","unstructured":"Svennebring J, Koenig S (2004) Building terrain-covering ant robots: a feasibility study. Auton Robot 16(1):313\u2013332","journal-title":"Auton Robot"},{"key":"571_CR36","doi-asserted-by":"crossref","unstructured":"Thorpe CE (1984) Path relaxation: Path planning for a mobile robot. In: Proceedings of the AAAI Conference on Artificial Intelligence, Austin, Texas, USA, pp 318\u2013321","DOI":"10.1109\/OCEANS.1984.1152243"},{"issue":"2","key":"571_CR37","doi-asserted-by":"crossref","first-page":"217","DOI":"10.1007\/s10489-012-0406-4","volume":"39","author":"HH Viet","year":"2013","unstructured":"Viet HH, Dang VH, Laskar MNU, Chung T (2013) BA*: an online complete coverage algorithm for cleaning robots. Appl Intell 39(2):217\u2013235","journal-title":"Appl Intell"},{"key":"571_CR38","doi-asserted-by":"crossref","unstructured":"Zheng X, Jain S, Koenig S, Kempe D (2005) Multi-robot forest coverage. In: Proceedings of the 2005 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Alberta, Canada, pp 3852\u20133857","DOI":"10.1109\/IROS.2005.1545323"},{"issue":"6","key":"571_CR39","doi-asserted-by":"crossref","first-page":"1018","DOI":"10.1109\/TRO.2010.2072271","volume":"26","author":"X Zheng","year":"2010","unstructured":"Zheng X, Koenig S, Kempe D, Jain S (2010) Multirobot forest coverage for weighted and unweighted terrain. IEEE Trans Robot 26(6):1018\u20131031","journal-title":"IEEE Trans Robot"}],"container-title":["Applied Intelligence"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10489-014-0571-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10489-014-0571-8\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10489-014-0571-8","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,13]],"date-time":"2019-08-13T07:34:39Z","timestamp":1565681679000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10489-014-0571-8"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,8,1]]},"references-count":39,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2015,3]]}},"alternative-id":["571"],"URL":"https:\/\/doi.org\/10.1007\/s10489-014-0571-8","relation":{},"ISSN":["0924-669X","1573-7497"],"issn-type":[{"value":"0924-669X","type":"print"},{"value":"1573-7497","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,8,1]]}}}