{"id":"https://openalex.org/W4200629650","doi":"https://doi.org/10.48550/arxiv.2112.06879","title":"Multi-Robot On-site Shared Analytics Information and Computing","display_name":"Multi-Robot On-site Shared Analytics Information and Computing","publication_year":2021,"publication_date":"2021-12-13","ids":{"openalex":"https://openalex.org/W4200629650","doi":"https://doi.org/10.48550/arxiv.2112.06879"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2112.06879","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2112.06879","pdf_url":"https://arxiv.org/pdf/2112.06879","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2112.06879","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061885176","display_name":"Joshua Vander Hook","orcid":"https://orcid.org/0000-0002-0493-237X","observed_orcids":["https://orcid.org/0000-0002-0493-237X"]},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hook, Joshua Vander","raw_affiliation_strings":["Jet Propulsion Laboratory , California Institute of Technology , 4800 Oak Grove Dr. , Pasadena ( CA) 91101 "],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory , California Institute of Technology , 4800 Oak Grove Dr. , Pasadena ( CA) 91101 ","institution_ids":["https://openalex.org/I122411786","https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065789205","display_name":"Federico Rossi","orcid":"https://orcid.org/0000-0002-8091-881X","observed_orcids":["https://orcid.org/0000-0002-8091-881X"]},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rossi, Federico","raw_affiliation_strings":["Jet Propulsion Laboratory , California Institute of Technology , 4800 Oak Grove Dr. , Pasadena ( CA) 91101 "],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory , California Institute of Technology , 4800 Oak Grove Dr. , Pasadena ( CA) 91101 ","institution_ids":["https://openalex.org/I122411786","https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088963415","display_name":"Tiago Vaquero","orcid":"https://orcid.org/0000-0002-4681-4363","observed_orcids":["https://orcid.org/0000-0002-4681-4363"]},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vaquero, Tiago","raw_affiliation_strings":["Jet Propulsion Laboratory , California Institute of Technology , 4800 Oak Grove Dr. , Pasadena ( CA) 91101 "],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory , California Institute of Technology , 4800 Oak Grove Dr. , Pasadena ( CA) 91101 ","institution_ids":["https://openalex.org/I122411786","https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031370255","display_name":"Martina Troesch","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Troesch, Martina","raw_affiliation_strings":["Jet Propulsion Laboratory , California Institute of Technology , 4800 Oak Grove Dr. , Pasadena ( CA) 91101 "],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory , California Institute of Technology , 4800 Oak Grove Dr. , Pasadena ( CA) 91101 ","institution_ids":["https://openalex.org/I122411786","https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080078972","display_name":"Marc S\u00e1nchez Net","orcid":"https://orcid.org/0000-0003-1751-6372","observed_orcids":["https://orcid.org/0000-0003-1751-6372"]},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Net, Marc Sanchez","raw_affiliation_strings":["Jet Propulsion Laboratory , California Institute of Technology , 4800 Oak Grove Dr. , Pasadena ( CA) 91101 "],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory , California Institute of Technology , 4800 Oak Grove Dr. , Pasadena ( CA) 91101 ","institution_ids":["https://openalex.org/I122411786","https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112789364","display_name":"Joshua Schoolcraft","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Schoolcraft, Joshua","raw_affiliation_strings":["Jet Propulsion Laboratory , California Institute of Technology , 4800 Oak Grove Dr. , Pasadena ( CA) 91101 "],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory , California Institute of Technology , 4800 Oak Grove Dr. , Pasadena ( CA) 91101 ","institution_ids":["https://openalex.org/I122411786","https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023083564","display_name":"Jean-Pierre de la Croix","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"de la Croix, Jean-Pierre","raw_affiliation_strings":["Jet Propulsion Laboratory , California Institute of Technology , 4800 Oak Grove Dr. , Pasadena ( CA) 91101 "],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory , California Institute of Technology , 4800 Oak Grove Dr. , Pasadena ( CA) 91101 ","institution_ids":["https://openalex.org/I122411786","https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078367630","display_name":"Steve Chien","orcid":"https://orcid.org/0000-0003-1023-9480","observed_orcids":["https://orcid.org/0000-0003-1023-9480"]},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chien, Steve","raw_affiliation_strings":["Jet Propulsion Laboratory , California Institute of Technology , 4800 Oak Grove Dr. , Pasadena ( CA) 91101 "],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory , California Institute of Technology , 4800 Oak Grove Dr. , Pasadena ( CA) 91101 ","institution_ids":["https://openalex.org/I122411786","https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.3422999978065491,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.3422999978065491,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.21889999508857727,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10273","display_name":"IoT and Edge/Fog Computing","score":0.11990000307559967,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/multi-robot-systems","display_name":"multi-robot systems","score":0.9879999756813049},{"id":"https://openalex.org/keywords/task-scheduling","display_name":"task scheduling","score":0.8450000286102295},{"id":"https://openalex.org/keywords/heterogeneous-robots","display_name":"heterogeneous robots","score":0.8650000095367432},{"id":"https://openalex.org/keywords/communication-aware-scheduling","display_name":"communication-aware scheduling","score":0.8259999752044678},{"id":"https://openalex.org/keywords/integer-linear-programming","display_name":"integer linear programming","score":0.8029999732971191},{"id":"https://openalex.org/keywords/dependency-graph","display_name":"dependency graph","score":0.7390000224113464},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"distributed computing","score":0.47200000286102295},{"id":"https://openalex.org/keywords/lunar-and-planetary-exploration","display_name":"lunar and planetary exploration","score":0.7429999709129333},{"id":"https://openalex.org/keywords/extreme-environments","display_name":"extreme environments","score":0.6420000195503235}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7969387769699097},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.7406731247901917},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6909265518188477},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.6786575317382812},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6336358785629272},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.46429142355918884},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21810659766197205},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2112.06879","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2112.06879","pdf_url":"https://arxiv.org/pdf/2112.06879","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2112.06879","doi":"https://doi.org/10.48550/arxiv.2112.06879","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2112.06879","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2112.06879","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2112.06879","pdf_url":"https://arxiv.org/pdf/2112.06879","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.4943999946117401,"id":"https://metadata.un.org/sdg/9"}],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320309398","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055"},{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2965030512","https://openalex.org/W2772747678","https://openalex.org/W3128802552","https://openalex.org/W4401069891","https://openalex.org/W2133741291","https://openalex.org/W2776248319","https://openalex.org/W7112856786","https://openalex.org/W3173857353","https://openalex.org/W4393141269","https://openalex.org/W4401415439"],"abstract_inverted_index":{"Computation":[0],"load-sharing":[1],"across":[2,71],"a":[3,9,19,48,72,96,106,111,137,157],"network":[4,73],"of":[5,68,74,95,98,162],"heterogeneous":[6,75],"robots":[7,14],"is":[8],"promising":[10],"approach":[11],"to":[12,35,155,170],"increase":[13,159],"capabilities":[15,83],"and":[16,33,57,84,101,124,132],"efficiency":[17],"as":[18],"team":[20],"in":[21,25,128,133],"extreme":[22],"environments.":[23],"However,":[24],"such":[26],"environments,":[27],"communication":[28,90],"links":[29],"may":[30,40],"be":[31,41],"intermittent":[32],"connections":[34],"the":[36,66,79,121,125,149,160],"cloud":[37],"or":[38,141],"internet":[39],"nonexistent.":[42],"In":[43],"this":[44],"paper":[45],"we":[46],"introduce":[47],"communication-aware,":[49],"computation":[50,130],"task":[51],"scheduling":[52,94,113],"problem":[53],"for":[54,78,85,115],"multi-robot":[55],"systems":[56],"propose":[58],"an":[59,171],"integer":[60],"linear":[61],"program":[62],"(ILP)":[63],"that":[64,148],"optimizes":[65],"allocation":[67],"computational":[69,82,176],"tasks":[70,103,164],"robots,":[76],"accounting":[77],"networked":[80],"robots'":[81],"available":[86],"(and":[87],"possibly":[88],"time-varying)":[89],"links.":[91],"We":[92,109,119],"consider":[93],"set":[97],"inter-dependent":[99],"required":[100],"optional":[102],"modeled":[104],"by":[105],"dependency":[107],"graph.":[108],"present":[110],"consensus-backed":[112],"architecture":[114],"shared-world,":[116],"distributed":[117,126],"systems.":[118],"validate":[120],"ILP":[122],"formulation":[123],"implementation":[127,151],"different":[129],"platforms":[131],"simulated":[134],"scenarios":[135],"with":[136,174],"bias":[138],"towards":[139],"lunar":[140],"planetary":[142],"exploration":[143],"scenarios.":[144],"Our":[145],"results":[146],"show":[147],"proposed":[150],"can":[152],"optimize":[153],"schedules":[154],"allow":[156],"threefold":[158],"amount":[161],"rewarding":[163],"performed":[165],"(e.g.,":[166],"science":[167],"measurements)":[168],"compared":[169],"analogous":[172],"system":[173],"no":[175],"load-sharing.":[177]},"counts_by_year":[],"updated_date":"2026-10-13T10:08:12.033832","created_date":"2021-12-31T00:00:00"}