{"id":"https://openalex.org/W4312579012","doi":"https://doi.org/10.1109/access.2022.3223446","title":"E-CNMPC: Edge-Based Centralized Nonlinear Model Predictive Control for Multiagent Robotic Systems","display_name":"E-CNMPC: Edge-Based Centralized Nonlinear Model Predictive Control for Multiagent Robotic Systems","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4312579012","doi":"https://doi.org/10.1109/access.2022.3223446"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3223446","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3223446","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09955515.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09955515.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018051985","display_name":"Achilleas Santi Seisa","orcid":"https://orcid.org/0000-0001-9685-1026"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Achilleas Santi Seisa","raw_affiliation_strings":["Robotics and AI Team, Department of Computer, Electrical and Space Engineering, Lule&#x00E5; University of Technology, Lule&#x00E5;, Sweden","ORCiD"],"raw_orcid":"https://orcid.org/0000-0001-9685-1026","affiliations":[{"raw_affiliation_string":"Robotics and AI Team, Department of Computer, Electrical and Space Engineering, Lule&#x00E5; University of Technology, Lule&#x00E5;, Sweden","institution_ids":["https://openalex.org/I190632392"]},{"raw_affiliation_string":"ORCiD","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090279927","display_name":"Bj\u00f6rn Lindqvist","orcid":"https://orcid.org/0000-0003-3922-1735"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Bjorn Lindqvist","raw_affiliation_strings":["Robotics and AI Team, Department of Computer, Electrical and Space Engineering, Lule&#x00E5; University of Technology, Lule&#x00E5;, Sweden","ORCiD"],"raw_orcid":"https://orcid.org/0000-0003-3922-1735","affiliations":[{"raw_affiliation_string":"Robotics and AI Team, Department of Computer, Electrical and Space Engineering, Lule&#x00E5; University of Technology, Lule&#x00E5;, Sweden","institution_ids":["https://openalex.org/I190632392"]},{"raw_affiliation_string":"ORCiD","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039128725","display_name":"Sumeet Gajanan Satpute","orcid":"https://orcid.org/0000-0003-1437-1809"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Sumeet Gajanan Satpute","raw_affiliation_strings":["Robotics and AI Team, Department of Computer, Electrical and Space Engineering, Lule&#x00E5; University of Technology, Lule&#x00E5;, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and AI Team, Department of Computer, Electrical and Space Engineering, Lule&#x00E5; University of Technology, Lule&#x00E5;, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064878830","display_name":"George Nikolakopoulos","orcid":"https://orcid.org/0000-0003-0126-1897"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"George Nikolakopoulos","raw_affiliation_strings":["Robotics and AI Team, Department of Computer, Electrical and Space Engineering, Lule&#x00E5; University of Technology, Lule&#x00E5;, Sweden","ORCiD"],"raw_orcid":"https://orcid.org/0000-0003-0126-1897","affiliations":[{"raw_affiliation_string":"Robotics and AI Team, Department of Computer, Electrical and Space Engineering, Lule&#x00E5; University of Technology, Lule&#x00E5;, Sweden","institution_ids":["https://openalex.org/I190632392"]},{"raw_affiliation_string":"ORCiD","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5018051985"],"corresponding_institution_ids":["https://openalex.org/I190632392"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1900,"currency":"EUR","value_usd":2049},"fwci":1.3342,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.7993826,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"10","issue":null,"first_page":"121590","last_page":"121601"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9994999766349792,"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":0.9994999766349792,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9961000084877014,"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/computer-science","display_name":"Computer science","score":0.7970301508903503},{"id":"https://openalex.org/keywords/edge-computing","display_name":"Edge computing","score":0.62339186668396},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.6102588772773743},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.5998265147209167},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5770983099937439},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5751217603683472},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5416162610054016},{"id":"https://openalex.org/keywords/server","display_name":"Server","score":0.49901247024536133},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4876645803451538},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.4638630747795105},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4206456243991852},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.4132674038410187},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3063929080963135},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23479625582695007},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.11356517672538757},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.0842643678188324}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7970301508903503},{"id":"https://openalex.org/C2778456923","wikidata":"https://www.wikidata.org/wiki/Q5337692","display_name":"Edge computing","level":3,"score":0.62339186668396},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.6102588772773743},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.5998265147209167},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5770983099937439},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5751217603683472},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5416162610054016},{"id":"https://openalex.org/C93996380","wikidata":"https://www.wikidata.org/wiki/Q44127","display_name":"Server","level":2,"score":0.49901247024536133},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4876645803451538},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.4638630747795105},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4206456243991852},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.4132674038410187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3063929080963135},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23479625582695007},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.11356517672538757},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0842643678188324},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2022.3223446","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3223446","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09955515.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:19a62a8ae4da48af86a6b0bbdd2b518b","is_oa":true,"landing_page_url":"https://doaj.org/article/19a62a8ae4da48af86a6b0bbdd2b518b","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 10, Pp 121590-121601 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3223446","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3223446","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09955515.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6108634539","display_name":null,"funder_award_id":"953454","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8218992486","display_name":"AErial RObotic TRAINing for the next generation of European infrastructure and asset maintenance technologies","funder_award_id":"953454","funder_id":"https://openalex.org/F4320338337","funder_display_name":"H2020 Marie Sk\u0142odowska-Curie Actions"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320338337","display_name":"H2020 Marie Sk\u0142odowska-Curie Actions","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4312579012.pdf","grobid_xml":"https://content.openalex.org/works/W4312579012.grobid-xml"},"referenced_works_count":64,"referenced_works":["https://openalex.org/W2005212370","https://openalex.org/W2105774558","https://openalex.org/W2162597485","https://openalex.org/W2312058173","https://openalex.org/W2462948687","https://openalex.org/W2528275950","https://openalex.org/W2540257480","https://openalex.org/W2545342975","https://openalex.org/W2612563515","https://openalex.org/W2724857106","https://openalex.org/W2750989346","https://openalex.org/W2800240715","https://openalex.org/W2888823956","https://openalex.org/W2896327967","https://openalex.org/W2903656671","https://openalex.org/W2903798343","https://openalex.org/W2914844739","https://openalex.org/W2919006487","https://openalex.org/W2953624428","https://openalex.org/W2971106677","https://openalex.org/W2971225511","https://openalex.org/W2971697724","https://openalex.org/W3022943253","https://openalex.org/W3033613900","https://openalex.org/W3040460639","https://openalex.org/W3044032811","https://openalex.org/W3049416217","https://openalex.org/W3091626269","https://openalex.org/W3096205718","https://openalex.org/W3113274573","https://openalex.org/W3129359203","https://openalex.org/W3130470652","https://openalex.org/W3132087422","https://openalex.org/W3136033594","https://openalex.org/W3148870627","https://openalex.org/W3155850785","https://openalex.org/W3164726587","https://openalex.org/W3185716316","https://openalex.org/W3200200773","https://openalex.org/W3202885516","https://openalex.org/W3204111346","https://openalex.org/W3204594556","https://openalex.org/W3207730626","https://openalex.org/W3208350468","https://openalex.org/W3212580335","https://openalex.org/W4200557674","https://openalex.org/W4205946798","https://openalex.org/W4210921172","https://openalex.org/W4220829432","https://openalex.org/W4220959791","https://openalex.org/W4220987947","https://openalex.org/W4226319958","https://openalex.org/W4226354546","https://openalex.org/W4226446010","https://openalex.org/W4229018275","https://openalex.org/W4281779912","https://openalex.org/W4285256833","https://openalex.org/W4287882694","https://openalex.org/W4289829412","https://openalex.org/W4290755507","https://openalex.org/W4323074688","https://openalex.org/W6751014354","https://openalex.org/W6782496859","https://openalex.org/W6844674123"],"related_works":["https://openalex.org/W2092530219","https://openalex.org/W1990079087","https://openalex.org/W2388464034","https://openalex.org/W2533125852","https://openalex.org/W2140460949","https://openalex.org/W2105580438","https://openalex.org/W3202234113","https://openalex.org/W2057435755","https://openalex.org/W2101188133","https://openalex.org/W3154796165"],"abstract_inverted_index":{"With":[0],"the":[1,25,28,45,64,94,97,100,105,139,157,163,172,176,180,190,206,211],"wide":[2],"deployment":[3],"of":[4,27,36,71,141,161,205],"autonomous":[5],"multi-agent":[6,29],"robotic":[7,30,50,91,144],"systems,":[8,31],"control":[9],"solutions":[10],"based":[11],"on":[12,73,75],"centralized":[13,21,41,167,186],"algorithms":[14,22],"have":[15,63],"been":[16,82],"developed.":[17],"Even":[18],"though":[19],"these":[20,117],"can":[23],"optimize":[24],"performance":[26,213],"they":[32,102],"require":[33],"a":[34,40,85,166,203],"lot":[35],"computational":[37],"effort,":[38],"and":[39,56,134,185,214],"unit":[42],"to":[43,67,96,104,132,171,209],"undertake":[44],"whole":[46],"process.":[47],"Yet,":[48],"many":[49],"platforms":[51],"like":[52],"some":[53],"ground":[54,143],"robots":[55,95,164],"even":[57],"more,":[58],"aerial":[59],"robots,":[60],"do":[61],"not":[62],"computing":[65,80],"capacity":[66],"execute":[68],"this":[69,119],"kind":[70],"frameworks":[72],"their":[74],"onboard":[76],"computers.":[77],"While":[78],"cloud":[79,98],"has":[81,107],"used":[83],"as":[84,202],"solution":[86],"for":[87,111,156],"offloading":[88],"computationally":[89],"demanding":[90],"applications,":[92],"from":[93,179],"servers,":[99],"latency":[101,191],"introduce":[103],"system":[106],"set":[108],"them":[109],"unsuitable":[110],"time":[112,158],"sensitive":[113],"applications.":[114],"To":[115],"overcome":[116],"challenges,":[118],"article":[120],"promotes":[121],"an":[122],"Edge":[123],"computing-based":[124],"Centralized":[125],"Nonlinear":[126],"Model":[127],"Predictive":[128],"Control":[129],"(E-CNMPC)":[130],"framework":[131,177,208],"control,":[133],"optimize,":[135],"in":[136,165,194],"swarm":[137],"formation,":[138],"trajectory":[140],"multiple":[142],"agents,":[145],"while":[146,189],"taking":[147],"under":[148],"consideration":[149],"potential":[150],"collisions.":[151],"The":[152],"data":[153],"processing":[154],"procedure":[155],"critical":[159],"application":[160],"controlling":[162],"manner,":[168],"is":[169],"offloaded":[170],"edge":[173,182],"machine,":[174],"thus":[175],"benefits":[178],"provided":[181],"resources,":[183],"features,":[184],"optimal":[187],"performance,":[188],"remains":[192],"bounded":[193],"desired":[195],"values.":[196],"Besides,":[197],"real":[198],"experiments":[199],"were":[200],"conducted":[201],"proof-of-concept":[204],"proposed":[207],"evaluate":[210],"system\u2019s":[212],"effectiveness.":[215]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3}],"updated_date":"2026-05-23T08:51:43.019350","created_date":"2025-10-10T00:00:00"}
