<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-01726120</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-19T00:27:01+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Multi-Robot Simultaneous Coverage and Mapping of Complex Scene - Comparison of Different Strategies</title>
            <author role="aut">
              <persName>
                <forename type="first">Laëtitia</forename>
                <surname>Matignon</surname>
              </persName>
              <email type="md5">b2ec0964ba70e29b4bcac9a851898487</email>
              <email type="domain">univ-lyon1.fr</email>
              <idno type="idhal" notation="string">laetitia-matignon</idno>
              <idno type="idhal" notation="numeric">3290</idno>
              <idno type="halauthorid" notation="string">4775-3290</idno>
              <idno type="IDREF">https://www.idref.fr/134644239</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-7126-8715</idno>
              <affiliation ref="#struct-413093"/>
              <affiliation ref="#struct-203831"/>
              <affiliation ref="#struct-417638"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Olivier</forename>
                <surname>Simonin</surname>
              </persName>
              <email type="md5">7d7f776f151e650196d2f03456266743</email>
              <email type="domain">insa-lyon.fr</email>
              <idno type="idhal" notation="string">olivier-a-simonin</idno>
              <idno type="idhal" notation="numeric">800228</idno>
              <idno type="halauthorid" notation="string">7307-800228</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-3070-7790</idno>
              <idno type="IDREF">https://www.idref.fr/069150117</idno>
              <orgName ref="#struct-219748"/>
              <affiliation ref="#struct-203831"/>
              <affiliation ref="#struct-417638"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Olivier</forename>
                <surname>Simonin</surname>
              </persName>
              <email type="md5">f41276c6b9635659dbb7aaad2934e88f</email>
              <email type="domain">inria.fr</email>
            </editor>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2018-07-27 11:24:10</date>
              <date type="whenModified">2025-10-06 11:35:52</date>
              <date type="whenReleased">2018-07-27 11:41:46</date>
              <date type="whenProduced">2018-07-10</date>
              <date type="whenEndEmbargoed">2018-07-27</date>
              <ref type="file" target="https://hal.science/hal-01726120v1/document">
                <date notBefore="2018-07-27"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://hal.science/hal-01726120v1/file/aamas2018HAL.pdf" id="file-1850083-1875820">
                <date notBefore="2018-07-27"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="432748">
                <persName>
                  <forename>Olivier</forename>
                  <surname>Simonin</surname>
                </persName>
                <email type="md5">f41276c6b9635659dbb7aaad2934e88f</email>
                <email type="domain">inria.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-01726120</idno>
            <idno type="halUri">https://hal.science/hal-01726120</idno>
            <idno type="halBibtex">matignon:hal-01726120</idno>
            <idno type="halRefHtml">&lt;i&gt;AAMAS 2018 - 17th International Conference on Autonomous Agents and Multiagent Systems - Robotics Track&lt;/i&gt;, Jul 2018, Stockholm, Sweden. pp.559-567</idno>
            <idno type="halRef">AAMAS 2018 - 17th International Conference on Autonomous Agents and Multiagent Systems - Robotics Track, Jul 2018, Stockholm, Sweden. pp.559-567</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-1850083-1875820"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="INRIA">INRIA - Institut National de Recherche en Informatique et en Automatique</idno>
            <idno type="stamp" n="UNIV-LYON1">Université Claude Bernard - Lyon I</idno>
            <idno type="stamp" n="UNIV-LYON2">Université Lumière Lyon 2</idno>
            <idno type="stamp" n="INSA-LYON">Institut National des Sciences Appliquées de Lyon</idno>
            <idno type="stamp" n="EC-LYON">Ecole Centrale de Lyon</idno>
            <idno type="stamp" n="INRIA-RHA">INRIA Grenoble - Rhône-Alpes</idno>
            <idno type="stamp" n="LIRIS" corresp="UNIV-LYON1">Laboratoire d'InfoRmatique en Image et Systèmes d'information</idno>
            <idno type="stamp" n="INRIA_TEST">INRIA - Institut National de Recherche en Informatique et en Automatique</idno>
            <idno type="stamp" n="TESTALAIN1">TESTALAIN1</idno>
            <idno type="stamp" n="INRIA2">INRIA 2</idno>
            <idno type="stamp" n="LABEXIMU">Laboratoire d’Excellence Intelligences des Mondes Urbains</idno>
            <idno type="stamp" n="INRIA-RENGRE">INRIA-RENGRE</idno>
            <idno type="stamp" n="LYON2">Université Lyon2</idno>
            <idno type="stamp" n="CITI" corresp="INSA-LYON">Centre of Innovation in Telecommunications and Integration of services</idno>
            <idno type="stamp" n="INSA-GROUPE">Groupe INSA</idno>
            <idno type="stamp" n="UDL">UDL</idno>
            <idno type="stamp" n="UNIV-LYON">Université de Lyon</idno>
            <idno type="stamp" n="HAL-LYON-2-NOUVELLE-VERSION">Nouvelle version portail </idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="invited" n="0">No</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
            <note type="proceedings" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Multi-Robot Simultaneous Coverage and Mapping of Complex Scene - Comparison of Different Strategies</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Laëtitia</forename>
                    <surname>Matignon</surname>
                  </persName>
                  <email type="md5">b2ec0964ba70e29b4bcac9a851898487</email>
                  <email type="domain">univ-lyon1.fr</email>
                  <idno type="idhal" notation="string">laetitia-matignon</idno>
                  <idno type="idhal" notation="numeric">3290</idno>
                  <idno type="halauthorid" notation="string">4775-3290</idno>
                  <idno type="IDREF">https://www.idref.fr/134644239</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-7126-8715</idno>
                  <affiliation ref="#struct-413093"/>
                  <affiliation ref="#struct-203831"/>
                  <affiliation ref="#struct-417638"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Olivier</forename>
                    <surname>Simonin</surname>
                  </persName>
                  <email type="md5">7d7f776f151e650196d2f03456266743</email>
                  <email type="domain">insa-lyon.fr</email>
                  <idno type="idhal" notation="string">olivier-a-simonin</idno>
                  <idno type="idhal" notation="numeric">800228</idno>
                  <idno type="halauthorid" notation="string">7307-800228</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-3070-7790</idno>
                  <idno type="IDREF">https://www.idref.fr/069150117</idno>
                  <orgName ref="#struct-219748"/>
                  <affiliation ref="#struct-203831"/>
                  <affiliation ref="#struct-417638"/>
                </author>
              </analytic>
              <monogr>
                <title level="m">AAMAS '18 Proceedings of the 17th International Conference on Autonomous Agents and MultiAgent Systems</title>
                <meeting>
                  <title>AAMAS 2018 - 17th International Conference on Autonomous Agents and Multiagent Systems - Robotics Track</title>
                  <date type="start">2018-07-10</date>
                  <date type="end">2018-07-15</date>
                  <settlement>Stockholm</settlement>
                  <country key="SE">Sweden</country>
                </meeting>
                <editor>M. Dastani</editor>
                <editor>G. Sukthankar</editor>
                <editor>E. Andre</editor>
                <editor>S. Koenig</editor>
                <imprint>
                  <publisher>ACM</publisher>
                  <biblScope unit="pp">559-567</biblScope>
                </imprint>
              </monogr>
              <ref type="publisher">http://celweb.vuse.vanderbilt.edu/aamas18/</ref>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <classCode scheme="halDomain" n="info.info-ma">Computer Science [cs]/Multiagent Systems [cs.MA]</classCode>
              <classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode>
              <classCode scheme="halTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halOldTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halTreeTypology" n="COMM">Conference papers</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>This paper addresses the problem of optimizing the observation of a human scene using several mobile robots. Mobile robots have to cooperate to find a position around the scene maximizing its coverage. The scene coverage is defined as the observation of the human pose skeleton. It is assumed that the robots can communicate but have no map of the environment. Thus the robots have to simultaneously cover and map the scene and the environment. We consider an incremental approach to master state-space complexity. Robots build an hybrid metric-topological map while evaluating the observation of the human pose skeleton. To this end we propose and evaluate different online optimization strategies exploiting local versus global information. We discuss the difference of the performance and cost. Experiments are performed both in simulation and with real robots.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="researchteam" xml:id="struct-413093" status="VALID">
          <orgName>Systèmes Cognitifs et Systèmes Multi-Agents</orgName>
          <orgName type="acronym">SyCoSMA</orgName>
          <date type="start">2015-01-01</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-2003" type="direct"/>
            <relation active="#struct-33804" type="indirect"/>
            <relation active="#struct-126765" type="indirect"/>
            <relation active="#struct-301088" type="indirect"/>
            <relation active="#struct-194495" type="indirect"/>
            <relation active="#struct-219748" type="indirect"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation name="UMR5205" active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-203831" status="VALID">
          <orgName>CITI Centre of Innovation in Telecommunications and Integration of services</orgName>
          <orgName type="acronym">CITI</orgName>
          <desc>
            <address>
              <addrLine>CITI Laboratory, INSA Lyon Domaine Scientifique de la Doua Batiment Claude Chappe 6 avenue des Arts 69621 Villeurbanne Cedex Phone +33 4 7243 6415 Fax +33 4 7243 6227 E-Mail citi@insa-lyon.fr</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.citi.insa-lyon.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-219748" type="direct"/>
            <relation active="#struct-301088" type="indirect"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation active="#struct-300009" type="direct"/>
          </listRelation>
        </org>
        <org type="researchteam" xml:id="struct-417638" status="OLD">
          <idno type="RNSR">201521334D</idno>
          <orgName>Robots coopératifs et adaptés à la présence humaine en environnements dynamiques</orgName>
          <orgName type="acronym">CHROMA</orgName>
          <date type="start">2017-12-01</date>
          <date type="end">2021-12-31</date>
          <desc>
            <address>
              <addrLine>Centre de Recherche Inria655 Avenue de l'Europe, 38330 Montbonnot-Saint-Martin</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/equipes/chroma</ref>
          </desc>
          <listRelation>
            <relation active="#struct-2497" type="direct"/>
            <relation active="#struct-300009" type="indirect"/>
            <relation active="#struct-203831" type="direct"/>
            <relation active="#struct-219748" type="indirect"/>
            <relation active="#struct-301088" type="indirect"/>
            <relation active="#struct-301232" type="indirect"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-2003" status="VALID">
          <idno type="IdRef">149705271</idno>
          <idno type="ISNI">0000000122577669</idno>
          <idno type="RNSR">200511875R</idno>
          <idno type="ROR">https://ror.org/04dv4he91</idno>
          <orgName>Laboratoire d'InfoRmatique en Image et Systèmes d'information</orgName>
          <orgName type="acronym">LIRIS</orgName>
          <date type="start">2003-01-01</date>
          <desc>
            <address>
              <addrLine>Bâtiment Blaise Pascal - 20, avenue Albert Einstein - 69621 Villeurbanne cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://liris.cnrs.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-33804" type="direct"/>
            <relation active="#struct-126765" type="direct"/>
            <relation active="#struct-301088" type="indirect"/>
            <relation active="#struct-194495" type="direct"/>
            <relation active="#struct-219748" type="direct"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation name="UMR5205" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-33804" status="VALID">
          <idno type="IdRef">02640334X</idno>
          <idno type="ISNI">0000 0001 2188 0906</idno>
          <idno type="ROR">https://ror.org/03rth4p18</idno>
          <idno type="Wikidata">Q4041</idno>
          <orgName>Université Lumière - Lyon 2</orgName>
          <orgName type="acronym">UL2</orgName>
          <desc>
            <address>
              <addrLine>86, rue Pasteur - 69007 Lyon</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-lyon2.fr</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-126765" status="VALID">
          <idno type="ROR">https://ror.org/05s6rge65</idno>
          <orgName>École Centrale de Lyon</orgName>
          <orgName type="acronym">ECL</orgName>
          <desc>
            <address>
              <addrLine>36 avenue Guy de Collongue - 69134 Ecully cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.ec-lyon.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301088" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-301088" status="VALID">
          <idno type="ROR">https://ror.org/01rk35k63</idno>
          <orgName>Université de Lyon</orgName>
          <desc>
            <address>
              <addrLine>92 rue Pasteur - CS 30122, 69361 Lyon Cedex 07</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.universite-lyon.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-194495" status="VALID">
          <idno type="IdRef">026402823</idno>
          <idno type="ISNI">0000000121686185</idno>
          <idno type="ROR">https://ror.org/029brtt94</idno>
          <orgName>Université Claude Bernard Lyon 1</orgName>
          <orgName type="acronym">UCBL</orgName>
          <desc>
            <address>
              <addrLine>43, boulevard du 11 novembre 1918, 69622 Villeurbanne cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-lyon1.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301088" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-219748" status="VALID">
          <idno type="IdRef">052444724</idno>
          <idno type="ISNI">0000 0001 2292 0228</idno>
          <orgName>Institut National des Sciences Appliquées de Lyon</orgName>
          <orgName type="acronym">INSA Lyon</orgName>
          <date type="start">1957-03-18</date>
          <desc>
            <address>
              <addrLine>20 Avenue Albert Einstein, 69621 Villeurbanne cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.insa-lyon.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301088" type="direct"/>
            <relation active="#struct-301232" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-301232" status="VALID">
          <idno type="IdRef">162105150</idno>
          <orgName>Institut National des Sciences Appliquées</orgName>
          <orgName type="acronym">INSA</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-300009" status="VALID">
          <idno type="ROR">https://ror.org/02kvxyf05</idno>
          <orgName>Institut National de Recherche en Informatique et en Automatique</orgName>
          <orgName type="acronym">Inria</orgName>
          <desc>
            <address>
              <addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/en/</ref>
          </desc>
        </org>
        <org type="laboratory" xml:id="struct-2497" status="VALID">
          <idno type="RNSR">199218244V</idno>
          <idno type="ROR">https://ror.org/00n8d6z93</idno>
          <orgName>Centre Inria de l'Université Grenoble Alpes</orgName>
          <desc>
            <address>
              <addrLine>Inovallée655 avenue de l'Europe38330 Montbonnot</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/centre/grenoble</ref>
          </desc>
          <listRelation>
            <relation active="#struct-300009" type="direct"/>
          </listRelation>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>