{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,13]],"date-time":"2026-02-13T05:25:05Z","timestamp":1770960305966,"version":"3.50.1"},"reference-count":45,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2023,6,1]],"date-time":"2023-06-01T00:00:00Z","timestamp":1685577600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,6,1]],"date-time":"2023-06-01T00:00:00Z","timestamp":1685577600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["No. 91948303"],"award-info":[{"award-number":["No. 91948303"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2023,6]]},"DOI":"10.1007\/s10846-023-01844-z","type":"journal-article","created":{"date-parts":[[2023,6,19]],"date-time":"2023-06-19T07:02:35Z","timestamp":1687158155000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["SP2E: Online Spiral Coverage with Proactive Prevention Extremum for Unknown Environments"],"prefix":"10.1007","volume":"108","author":[{"given":"Lin","family":"Li","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dianxi","family":"Shi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Songchang","family":"Jin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shaowu","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yaoning","family":"Lian","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hengzhu","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2023,6,19]]},"reference":[{"key":"1844_CR1","doi-asserted-by":"crossref","unstructured":"Zhou, X., Wang, H., Ding, B.: How many robots are enough: A multi-objective genetic algorithm for the single-objective time-limited complete coverage problem. 2380\u20132387 (2018)","DOI":"10.1109\/ICRA.2018.8461028"},{"issue":"4","key":"1844_CR2","doi-asserted-by":"publisher","first-page":"5969","DOI":"10.1109\/LRA.2020.3010455","volume":"5","author":"X Kan","year":"2020","unstructured":"Kan, X., Teng, H., Karydis, K.: Online exploration and coverage planning in unknown obstacle-cluttered environments. IEEE Robot. Autom. Lett. 5(4), 5969\u20135976 (2020)","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"3","key":"1844_CR3","doi-asserted-by":"publisher","first-page":"2584","DOI":"10.1109\/LRA.2019.2899920","volume":"4","author":"C Wu","year":"2019","unstructured":"Wu, C., Dai, C., Gong, X., Liu, Y.J., Wang, J., Gu, X.D., Wang, C.C.: Energy-efficient coverage path planning for general terrain surfaces. IEEE Robot. Autom. Lett. 4(3), 2584\u20132591 (2019)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1844_CR4","doi-asserted-by":"crossref","unstructured":"Zhang, P., Wang, H., Ding, B., Shang, S.: Cloud-based framework for scalable and real-time multi-robot slam. In: 2018 IEEE International Conference on Web Services (ICWS), pp. 147\u2013154. IEEE (2018)","DOI":"10.1109\/ICWS.2018.00026"},{"issue":"2","key":"1844_CR5","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10846-022-01654-9","volume":"105","author":"IZ Biundini","year":"2022","unstructured":"Biundini, I.Z., Melo, A.G., Coelho, F.O., Hon\u00f3rio, L.M., Marcato, A.L., Pinto, M.F.: Experimentation and simulation with autonomous coverage path planning for uavs. J. Intell. Robot. Syst. 105(2), 1\u201320 (2022)","journal-title":"J. Intell. Robot. Syst."},{"issue":"3","key":"1844_CR6","doi-asserted-by":"publisher","first-page":"445","DOI":"10.1007\/s10846-016-0348-x","volume":"83","author":"C Di Franco","year":"2016","unstructured":"Di Franco, C., Buttazzo, G.: Coverage path planning for uavs photogrammetry with energy and resolution constraints. J. Intell. Robot. Syst. 83(3), 445\u2013462 (2016)","journal-title":"J. Intell. Robot. Syst."},{"issue":"1","key":"1844_CR7","doi-asserted-by":"publisher","first-page":"125","DOI":"10.1007\/s10846-019-01010-4","volume":"97","author":"Y Choi","year":"2020","unstructured":"Choi, Y., Choi, Y., Briceno, S., Mavris, D.N.: Energy-constrained multi-uav coverage path planning for an aerial imagery mission using column generation. J. Intell. Robot. Syst. 97(1), 125\u2013139 (2020)","journal-title":"J. Intell. Robot. Syst."},{"key":"1844_CR8","doi-asserted-by":"crossref","unstructured":"Deng, D., Jing, W., Fu, Y., Huang, Z., Liu, J., Shimada, K.: Constrained heterogeneous vehicle path planning for large-area coverage. In: 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4113\u20134120. IEEE (2019)","DOI":"10.1109\/IROS40897.2019.8968299"},{"key":"1844_CR9","doi-asserted-by":"crossref","unstructured":"Lottes, P., Khanna, R., Pfeifer, J., Siegwart, R., Stachniss, C.: UAV-based crop and weed classification for smart farming. In: 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 3024\u20133031. (IEEE, 2017)","DOI":"10.1109\/ICRA.2017.7989347"},{"issue":"3","key":"1844_CR10","doi-asserted-by":"publisher","first-page":"965","DOI":"10.1007\/s10846-013-9834-6","volume":"74","author":"IA Hameed","year":"2014","unstructured":"Hameed, I.A.: Intelligent coverage path planning for agricultural robots and autonomous machines on three-dimensional terrain. J. Intell. Robot. Syst. 74(3), 965\u2013983 (2014)","journal-title":"J. Intell. Robot. Syst."},{"issue":"1","key":"1844_CR11","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10846-022-01722-0","volume":"106","author":"L Wang","year":"2022","unstructured":"Wang, L., Wang, Z., Liu, M., Ying, Z., Xu, N., Meng, Q.: Full coverage path planning methods of harvesting robot with multi-objective constraints. J. Intell. Robot. Syst. 106(1), 1\u201315 (2022)","journal-title":"J. Intell. Robot. Syst."},{"key":"1844_CR12","doi-asserted-by":"crossref","unstructured":"Karapetyan, N., Braude, A., Moulton, J., Burstein, J.A., White, S., O\u2019Kane, J.M., Rekleitis, I.: Riverine coverage with an autonomous surface vehicle over known environments. In: 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3098\u20133104. IEEE (2019)","DOI":"10.1109\/IROS40897.2019.8968084"},{"key":"1844_CR13","doi-asserted-by":"crossref","unstructured":"Karapetyan, N., Moulton, J., Rekleitis, I.: Dynamic autonomous surface vehicle control and applications in environmental monitoring. In: OCEANS 2019 MTS\/IEEE SEATTLE, pp. 1\u20136. IEEE (2019)","DOI":"10.23919\/OCEANS40490.2019.8962820"},{"issue":"6","key":"1844_CR14","doi-asserted-by":"publisher","first-page":"568","DOI":"10.1109\/LWC.2016.2601612","volume":"5","author":"Y Wu","year":"2016","unstructured":"Wu, Y., Zhang, B., Yi, X., Tang, Y.: Communication-motion planning for wireless relay-assisted multi-robot system. IEEE Wirel. Commun. Lett. 5(6), 568\u2013571 (2016)","journal-title":"IEEE Wirel. Commun. Lett."},{"issue":"12","key":"1844_CR15","doi-asserted-by":"publisher","first-page":"1258","DOI":"10.1016\/j.robot.2013.09.004","volume":"61","author":"E Galceran","year":"2013","unstructured":"Galceran, E., Carreras, M.: A survey on coverage path planning for robotics. Robot. Auton. Syst. 61(12), 1258\u20131276 (2013)","journal-title":"Robot. Auton. Syst."},{"issue":"1","key":"1844_CR16","doi-asserted-by":"publisher","first-page":"4","DOI":"10.3390\/drones3010004","volume":"3","author":"TM Cabreira","year":"2019","unstructured":"Cabreira, T.M., Brisolara, L.B., Ferreira, P.R., Jr.: Survey on coverage path planning with unmanned aerial vehicles. Drones 3(1), 4 (2019)","journal-title":"Drones"},{"key":"1844_CR17","doi-asserted-by":"crossref","unstructured":"Song, J., Gupta, S.: $$\\epsilon ^{\\ast }$$: An online coverage path planning algorithm. IEEE Trans. Robot. 34(2), 526\u2013533 (2018)","DOI":"10.1109\/TRO.2017.2780259"},{"key":"1844_CR18","doi-asserted-by":"crossref","unstructured":"Jin, X., Gupta, S., Luff, J.M., Ray, A.: Multi-resolution navigation of mobile robots with complete coverage of unknown and complex environments. In: 2012 American Control Conference (ACC), pp. 4867\u20134872. IEEE (2012)","DOI":"10.1109\/ACC.2012.6314800"},{"issue":"3","key":"1844_CR19","doi-asserted-by":"publisher","first-page":"647","DOI":"10.1007\/s10514-019-09870-3","volume":"44","author":"J Song","year":"2020","unstructured":"Song, J., Gupta, S.: Care: Cooperative autonomy for resilience and efficiency of robot teams for complete coverage of unknown environments under robot failures. Auton. Robot. 44(3), 647\u2013671 (2020)","journal-title":"Auton. Robot."},{"key":"1844_CR20","unstructured":"Gonzalez, E., Alvarez, O., Diaz, Y., Parra, C., Bustacara, C.: BSA: A complete coverage algorithm. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp. 2040\u20132044. IEEE (2005)"},{"key":"1844_CR21","doi-asserted-by":"crossref","unstructured":"Gonzalez, E., Gerlein, E.: BSA-CM: A multi-robot coverage algorithm. In: 2009 IEEE\/WIC\/ACM International Joint Conference on Web Intelligence and Intelligent Agent Technology, vol.\u00a02, pp. 383\u2013386. IEEE (2009)","DOI":"10.1109\/WI-IAT.2009.182"},{"key":"1844_CR22","doi-asserted-by":"crossref","unstructured":"Karapetyan, N., Moulton, J., Lewis, J.S., Li, A.Q., O\u2019Kane, J.M., Rekleitis, I.: Multi-robot dubins coverage with autonomous surface vehicles. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 2373\u20132379. IEEE (2018)","DOI":"10.1109\/ICRA.2018.8460661"},{"key":"1844_CR23","doi-asserted-by":"crossref","unstructured":"Karapetyan, N., Benson, K., McKinney, C., Taslakian, P., Rekleitis, I.: Efficient multi-robot coverage of a known environment. In: 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1846\u20131852. IEEE (2017)","DOI":"10.1109\/IROS.2017.8206000"},{"key":"1844_CR24","doi-asserted-by":"crossref","unstructured":"Mannadiar, R., Rekleitis, I.: Optimal coverage of a known arbitrary environment. In: 2010 IEEE International conference on robotics and automation, pp. 5525\u20135530. IEEE (2010)","DOI":"10.1109\/ROBOT.2010.5509860"},{"key":"1844_CR25","doi-asserted-by":"crossref","unstructured":"Shen, Z., Wilson, J.P., Gupta, S.: $$\\epsilon ^{\\ast }$$+: An online coverage path planning algorithm for energy-constrained autonomous vehicles. (2020). arXiv preprint arXiv:2008.13041","DOI":"10.1109\/IEEECONF38699.2020.9389353"},{"key":"1844_CR26","doi-asserted-by":"crossref","unstructured":"Shen, Z., Wilson, J.P., Gupta, S.: An online coverage path planning algorithm for curvature-constrained AUVs. In: OCEANS 2019 MTS\/IEEE SEATTLE, pp. 1\u20135. IEEE (2019). Competitive","DOI":"10.23919\/OCEANS40490.2019.8962629"},{"issue":"3","key":"1844_CR27","doi-asserted-by":"publisher","first-page":"647","DOI":"10.1007\/s10514-019-09870-3","volume":"44","author":"J Song","year":"2020","unstructured":"Song, J., Gupta, S.: Care: Cooperative autonomy for resilience and efficiency of robot teams for complete coverage of unknown environments under robot failures. Auton. Robot. 44(3), 647\u2013671 (2020)","journal-title":"Auton. Robot."},{"issue":"3\u20134","key":"1844_CR28","first-page":"1","volume":"86","author":"AC Kapoutsis","year":"2017","unstructured":"Kapoutsis, A.C., Chatzichristofis, S.A., Kosmatopoulos, E.B.: Darp: Divide areas algorithm for optimal multi-robot coverage path planning. J. Intell. Robot. Syst. 86(3\u20134), 1\u201318 (2017)","journal-title":"J. Intell. Robot. Syst."},{"key":"1844_CR29","doi-asserted-by":"crossref","unstructured":"Tang, J., Sun, C., Zhang, X.: MSTC $$\\ast $$: Multi-robot Coverage Path Planning under Physical Constrain. In: 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 2518\u20132524. IEEE (2021)","DOI":"10.1109\/ICRA48506.2021.9561371"},{"key":"1844_CR30","doi-asserted-by":"crossref","unstructured":"Gao, G.Q., Xin, B.: A-stc: auction-based spanning tree coverage algorithm for motion planning of cooperative robots. Front. Inf. Technol. Electron. Eng. (1), 14 (2019)","DOI":"10.1631\/FITEE.1800551"},{"issue":"2","key":"1844_CR31","doi-asserted-by":"publisher","first-page":"143","DOI":"10.1007\/s10472-009-9121-1","volume":"52","author":"N Agmon","year":"2008","unstructured":"Agmon, N., Hazon, N., Kaminka, G.A.: The giving tree: constructing trees for efficient offline and online multi-robot coverage. Ann. Math. Artif. Intell. 52(2), 143\u2013168 (2008)","journal-title":"Ann. Math. Artif. Intell."},{"issue":"3","key":"1844_CR32","doi-asserted-by":"publisher","first-page":"197","DOI":"10.1016\/S0925-7721(02)00110-4","volume":"24","author":"Y Gabriely","year":"2003","unstructured":"Gabriely, Y., Rimon, E.: Competitive on-line coverage of grid environments by a mobile robot. Comput. Geom. 24(3), 197\u2013224 (2003)","journal-title":"Comput. Geom."},{"key":"1844_CR33","unstructured":"\u00d6st, G.: Search path generation with uav applications using approximate convex decomposition (2012)"},{"key":"1844_CR34","doi-asserted-by":"publisher","first-page":"441","DOI":"10.1016\/j.eswa.2016.02.007","volume":"55","author":"M Torres","year":"2016","unstructured":"Torres, M., Pelta, D.A., Verdegay, J.L., Torres, J.C.: Coverage path planning with unmanned aerial vehicles for 3d terrain reconstruction. Expert Syst. Appl. 55, 441\u2013451 (2016)","journal-title":"Expert Syst. Appl."},{"key":"1844_CR35","unstructured":"Andersen, H.L.: Path planning for search and rescue mission using multicopters. Master\u2019s thesis, Institutt for teknisk kybernetikk (2014)"},{"issue":"4","key":"1844_CR36","doi-asserted-by":"publisher","first-page":"3662","DOI":"10.1109\/LRA.2018.2854967","volume":"3","author":"TM Cabreira","year":"2018","unstructured":"Cabreira, T.M., Di Franco, C., Ferreira, P.R., Buttazzo, G.C.: Energy-aware spiral coverage path planning for uav photogrammetric applications. IEEE Robot. Autom. Lett. 3(4), 3662\u20133668 (2018)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1844_CR37","doi-asserted-by":"crossref","unstructured":"Grisettiyz, G., Stachniss, C., Burgard, W.: Improving grid-based slam with rao-blackwellized particle filters by adaptive proposals and selective resampling. In: Proceedings of the 2005 IEEE international conference on robotics and automation, pp. 2432\u20132437. IEEE (2005)","DOI":"10.1109\/ROBOT.2005.1570477"},{"issue":"1","key":"1844_CR38","doi-asserted-by":"publisher","first-page":"34","DOI":"10.1109\/TRO.2006.889486","volume":"23","author":"G Grisetti","year":"2007","unstructured":"Grisetti, G., Stachniss, C., Burgard, W.: Improved techniques for grid mapping with rao-blackwellized particle filters. IEEE Trans. Robot. 23(1), 34\u201346 (2007)","journal-title":"IEEE Trans. Robot."},{"key":"1844_CR39","doi-asserted-by":"publisher","first-page":"270","DOI":"10.1016\/j.comcom.2019.10.014","volume":"149","author":"S Aggarwal","year":"2020","unstructured":"Aggarwal, S., Kumar, N.: Path planning techniques for unmanned aerial vehicles: A review, solutions, and challenges. Comput. Commun. 149, 270\u2013299 (2020)","journal-title":"Comput. Commun."},{"key":"1844_CR40","doi-asserted-by":"publisher","first-page":"9","DOI":"10.35940\/ijitee.L1002.10812S319","volume":"8","author":"B Kumar","year":"2020","unstructured":"Kumar, B., Tiwari, U.K., Kumar, S., Tomer, V., Kalra, J.: Comparison and performance evaluation of boundary fill and flood fill algorithm. Int. J. Innov. Technol. Explor. Eng. 8, 9\u201313 (2020)","journal-title":"Int. J. Innov. Technol. Explor. Eng."},{"key":"1844_CR41","doi-asserted-by":"crossref","unstructured":"Rekleitis, I., Lee-Shue, V., New, A.P., Choset, H.: Limited communication, multi-robot team based coverage. In: IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA\u201904. 2004, vol.\u00a04, pp. 3462\u20133468. IEEE (2004)","DOI":"10.1109\/ROBOT.2004.1308789"},{"key":"1844_CR42","doi-asserted-by":"crossref","unstructured":"Rekleitis, I.: New, A.P.: Choset, H.: Distributed coverage of unknown\/unstructured environments by mobile sensor networks. In: Multi-Robot Systems. From Swarms to Intelligent Automata Volume III, vol.\u00a03, pp. 145\u2013155. Springer (2005)","DOI":"10.1007\/1-4020-3389-3_12"},{"key":"1844_CR43","unstructured":"Gerkey, B., Vaughan, R.T., Howard, A., et\u00a0al.: The player\/stage project: Tools for multi-robot and distributed sensor systems. In: Proceedings of the 11th international conference on advanced robotics, vol.\u00a01, pp. 317\u2013323. Citeseer (2003)"},{"key":"1844_CR44","doi-asserted-by":"crossref","unstructured":"Rsmann, C., Hoffmann, F., Bertram, T.: Kinodynamic Trajectory Optimization and Control for Car-Like Robots. In: 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada. (2017)","DOI":"10.1109\/IROS.2017.8206458"},{"key":"1844_CR45","doi-asserted-by":"crossref","unstructured":"Tanha, S., Dehkordi, S., Korayem, A.: Control a mobile robot in Social environments by considering human as a moving obstacle. In: 2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM), pp. 256\u2013260. IEEE (2018)","DOI":"10.1109\/ICRoM.2018.8657641"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01844-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-023-01844-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01844-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,22]],"date-time":"2024-10-22T14:54:25Z","timestamp":1729608865000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-023-01844-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,6]]},"references-count":45,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2023,6]]}},"alternative-id":["1844"],"URL":"https:\/\/doi.org\/10.1007\/s10846-023-01844-z","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,6]]},"assertion":[{"value":"5 November 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"22 February 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"19 June 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no conflicts of interest to declare that are relevant to the content of this article.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of interest"}}],"article-number":"30"}}