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Syst."],"published-print":{"date-parts":[[2022,6,30]]},"abstract":"<jats:p>\n            We focus on the online multi-object\n            <jats:italic>k<\/jats:italic>\n            -coverage problem (OMOkC), where mobile robots are required to sense a mobile target from\n            <jats:italic>k<\/jats:italic>\n            diverse points of view, coordinating themselves in a scalable and possibly decentralised way. There is active research on OMOkC, particularly in the design of decentralised algorithms for solving it. We propose a new take on the issue: Rather than classically developing new algorithms, we apply a macro-level paradigm, called\n            <jats:italic>aggregate computing<\/jats:italic>\n            , specifically designed to directly program the global behaviour of a whole\n            <jats:italic>ensemble<\/jats:italic>\n            of devices at once. To understand the potential of the application of aggregate computing to OMOkC, we extend the Alchemist simulator (supporting aggregate computing natively) with a novel toolchain component supporting the simulation of mobile robots. This way, we build a software engineering toolchain comprising language and simulation tooling for addressing OMOkC. Finally, we exercise our approach and related toolchain by introducing new algorithms for OMOkC; we show that they can be expressed concisely, reuse existing software components and perform better than the current state-of-the-art in terms of coverage over time and number of objects covered overall.\n          <\/jats:p>","DOI":"10.1145\/3547145","type":"journal-article","created":{"date-parts":[[2022,7,18]],"date-time":"2022-07-18T12:17:06Z","timestamp":1658146626000},"page":"1-39","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":14,"title":["A Collective Adaptive Approach to Decentralised k-Coverage in Multi-robot Systems"],"prefix":"10.1145","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8392-5409","authenticated-orcid":false,"given":"Danilo","family":"Pianini","sequence":"first","affiliation":[{"name":"Alma Mater Studiorum\u2014Universit\u00e0 di Bologna, Cesena (FC), Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3788-4295","authenticated-orcid":false,"given":"Federico","family":"Pettinari","sequence":"additional","affiliation":[{"name":"Alma Mater Studiorum\u2014Universit\u00e0 di Bologna, Cesena (FC), Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9149-949X","authenticated-orcid":false,"given":"Roberto","family":"Casadei","sequence":"additional","affiliation":[{"name":"Alma Mater Studiorum\u2014Universit\u00e0 di Bologna, Cesena (FC), Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0248-1552","authenticated-orcid":false,"given":"Lukas","family":"Esterle","sequence":"additional","affiliation":[{"name":"Aarhus University Nordre Ringgade 1, Aarhus C, Denmark"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2022,9,7]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460701"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACSOS49614.2020.00037"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-50029-0_14"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.compeleceng.2021.107580"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1145\/3285956"},{"key":"e_1_3_2_7_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2017.02.028"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-36763-2_37"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/MIS.2006.29"},{"key":"e_1_3_2_10_2","unstructured":"Jacob Beal Stefan Dulman Kyle Usbeck Mirko Viroli and Nikolaus Correll. 2012. 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