{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:02:02Z","timestamp":1777716122351,"version":"3.51.4"},"reference-count":76,"publisher":"SAGE Publications","issue":"8","license":[{"start":{"date-parts":[[2010,8,31]],"date-time":"2010-08-31T00:00:00Z","timestamp":1283212800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2011,7]]},"abstract":"<jats:p>\n                    Several recent works considered multi-a(ge)nt robotics in static environments. In this work we examine ways of operating in dynamic environments, where changes take place independently of the agents\u2019 activity. The work focuses on a dynamic variant of the cooperative cleaners problem, a problem that requires several simple agents to clean a connected region of \u201cdirty\u201d pixels inZ\n                    <jats:sup>2<\/jats:sup>\n                    . A number of simple agents move in this dirty region, each having the ability to \u201cclean\u201d the place it is located in. Their goal is to jointly clean the given dirty region. The dynamic variant of the problem involves a deterministic expansion of dirt in the environment, simulating spreading of contamination or fire. Theoretical lower bounds for the problem are presented, as well as various impossibility results. A cleaning protocol for the problem is presented, and a wealth of experimental results testing its performance in comparison to the lower bounds. Several analytic upper bounds for the proposed protocol are also presented, accompanied with appropriate experimental results.\n                  <\/jats:p>","DOI":"10.1177\/0278364910377245","type":"journal-article","created":{"date-parts":[[2010,8,31]],"date-time":"2010-08-31T20:26:22Z","timestamp":1283286382000},"page":"1037-1071","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":30,"title":["Multi-agent Cooperative Cleaning of Expanding Domains"],"prefix":"10.1177","volume":"30","author":[{"given":"Yaniv","family":"Altshuler","sequence":"first","affiliation":[{"name":"Technion, Technion City, Haifa, Israel, Deutsche Telekom Laboratories, Ben Gurion University of the Negev, Beer Sheva, Israel,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vladimir","family":"Yanovski","sequence":"additional","affiliation":[{"name":"Technion, Technion City, Haifa, Israel"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Israel A","family":"Wagner","sequence":"additional","affiliation":[{"name":"Technion, Technion City, Haifa, Israel, IBM Haifa Research Lab, Carmel Mountains, Haifa, Israel"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alfred M","family":"Bruckstein","sequence":"additional","affiliation":[{"name":"Technion, Technion City, Haifa, Israel"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2010,8,31]]},"reference":[{"key":"atypb1","volume":"55","author":"Abramowitz, M.","year":"1964","journal-title":"Applied Mathematics Series"},{"key":"atypb2","volume-title":"International Conference on Field and Service Robotics","author":"Acar, E."},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1086\/285418"},{"key":"atypb4","volume-title":"AAMAS \u201908: Proceedings of the 7th International Joint Conference on Autonomous Agents and Multiagent Systems","author":"Agmon, N."},{"key":"atypb5","volume-title":"AAMAS \u201908: Proceedings of the 7th International Joint Conference on Autonomous Agents and Multiagent Systems","author":"Agogino, A."},{"key":"atypb6","volume-title":"Third International Conference on Informatics in Control, Automation and Robotics (ICINCO), the Second International Workshop on Multi-Agent Robotic Systems (MARS)","author":"Altshuler, Y."},{"key":"atypb7","volume-title":"The 13th International Conference on Discrete Geometry for Computer Imagery (DGCI2006)","author":"Altshuler, Y."},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574708004141"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1007\/s00446-008-0059-z"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1080\/095281397147068"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1016\/0925-7721(95)00003-R"},{"key":"atypb12","volume-title":"6th International Symposium on Distributed Autonomous Robotics Systems","author":"Batalin, M."},{"key":"atypb13","volume-title":"Proceedings of the 31st International Conference on Very Large Data Bases","author":"Bender, M."},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.2316\/Journal.206.2009.1.206-3220"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.12.012"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1093\/oso\/9780195131581.001.0001"},{"key":"atypb17","volume-title":"Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI)","author":"Borie, R."},{"key":"atypb18","volume-title":"Vehicles","author":"Braitenberg, V.","year":"1984"},{"key":"atypb19","first-page":"3","author":"Brooks, R.","year":"1990","journal-title":"Designing Autonomous Agents"},{"key":"atypb20","first-page":"478","volume":"42","author":"Brooks, R.","year":"1989","journal-title":"Journal of the British interplanetary Society"},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1007\/BF03024195"},{"key":"atypb22","doi-asserted-by":"publisher","DOI":"10.2307\/2974581"},{"key":"atypb23","author":"Butler, Z.","year":"2001","journal-title":"Proceedings of the Workshop on the Algorithmic Foundations of Robotics"},{"key":"atypb24","doi-asserted-by":"publisher","DOI":"10.1080\/00207720500438480"},{"key":"atypb25","volume-title":"AAMAS \u201908: Proceedings of the 7th International Joint Conference on Autonomous Agents and Multiagent Systems","author":"Connaughton, R."},{"key":"atypb26","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2005.851631"},{"key":"atypb27","volume-title":"A Market Approach to Multirobot Coordination. 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