{"id":"https://openalex.org/W4402978531","doi":"https://doi.org/10.1109/access.2024.3470254","title":"Swarm Robot Communications in ROS 2: An Experimental Study","display_name":"Swarm Robot Communications in ROS 2: An Experimental Study","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4402978531","doi":"https://doi.org/10.1109/access.2024.3470254"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3470254","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3470254","pdf_url":null,"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://doi.org/10.1109/access.2024.3470254","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013690252","display_name":"Jos\u00e9-Borja Castillo-S\u00e1nchez","orcid":"https://orcid.org/0000-0003-3402-8725"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Jos\u00e9-Borja Castillo-S\u00e1nchez","raw_affiliation_strings":["Department of Electronic Technology, Telecommunications Research Institute, University of Malaga, Malaga, Spain","Department of Electronic Techonology, Telecommunications Research Institute. University of Malaga, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Technology, Telecommunications Research Institute, University of Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Department of Electronic Techonology, Telecommunications Research Institute. University of Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031936711","display_name":"Eva Gonz\u00e1lez-Parada","orcid":"https://orcid.org/0000-0001-6072-9424"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Eva Gonz\u00e1lez-Parada","raw_affiliation_strings":["Department of Electronic Technology, Telecommunications Research Institute, University of Malaga, Malaga, Spain","Department of Electronic Techonology, Telecommunications Research Institute. University of Malaga, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Technology, Telecommunications Research Institute, University of Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Department of Electronic Techonology, Telecommunications Research Institute. University of Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029791685","display_name":"Jos\u00e9 Manuel Berm\u00fadez Cano","orcid":"https://orcid.org/0000-0002-8211-7602"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jos\u00e9-Manuel Cano-Garc\u00eda","raw_affiliation_strings":["Department of Electronic Technology, Telecommunications Research Institute, University of Malaga, Malaga, Spain","Department of Electronic Techonology, Telecommunications Research Institute. University of Malaga, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Technology, Telecommunications Research Institute, University of Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Department of Electronic Techonology, Telecommunications Research Institute. University of Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5013690252"],"corresponding_institution_ids":["https://openalex.org/I82767444"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.429,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.58083435,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"12","issue":null,"first_page":"142930","last_page":"142943"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.989300012588501,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.989300012588501,"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/T12162","display_name":"Cellular Automata and Applications","score":0.9470999836921692,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T13382","display_name":"Robotics and Automated Systems","score":0.9391000270843506,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6460573077201843},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.630710244178772},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6221553683280945},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4157031178474426},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28220587968826294}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6460573077201843},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.630710244178772},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6221553683280945},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4157031178474426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28220587968826294}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2024.3470254","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3470254","pdf_url":null,"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:riuma.uma.es:10630/38979","is_oa":true,"landing_page_url":"https://hdl.handle.net/10630/38979","pdf_url":"https://riuma.uma.es/xmlui/bitstream/10630/38979/1/Swarm_Robot_Communications_in_ROS_2_An_Experimental_Study.pdf","source":{"id":"https://openalex.org/S4306401385","display_name":"Repositorio Institucional de la Universidad de M\u00e1laga (University of M\u00e1laga)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82767444","host_organization_name":"Universidad de M\u00e1laga","host_organization_lineage":["https://openalex.org/I82767444"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"VoR"},{"id":"pmh:oai:doaj.org/article:b47296672fe34499845e50da753c2899","is_oa":true,"landing_page_url":"https://doaj.org/article/b47296672fe34499845e50da753c2899","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 142930-142943 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3470254","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3470254","pdf_url":null,"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/G1320060331","display_name":null,"funder_award_id":"MCIN/AEI/10.13039/50110001103","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G1598597440","display_name":null,"funder_award_id":"MCIN/AEI/10.13039/5011000110","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G1643949827","display_name":null,"funder_award_id":"AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G2262748287","display_name":null,"funder_award_id":"501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G2969783435","display_name":null,"funder_award_id":"CIN/AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G300979063","display_name":null,"funder_award_id":"10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3219925899","display_name":null,"funder_award_id":"MCIN/AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3480869486","display_name":null,"funder_award_id":"13039","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3692960555","display_name":null,"funder_award_id":"B4-2023-12","funder_id":"https://openalex.org/F4320311265","funder_display_name":"Universidad de M\u00e1laga"},{"id":"https://openalex.org/G4126322094","display_name":null,"funder_award_id":"01100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G5080475149","display_name":null,"funder_award_id":"10.13039","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G6225054180","display_name":null,"funder_award_id":"TED2021-130456B-I00,","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G661330594","display_name":null,"funder_award_id":"00110","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G6685425346","display_name":null,"funder_award_id":"0011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G7084143925","display_name":null,"funder_award_id":"AEI/10","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G7266728691","display_name":null,"funder_award_id":"13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G7535663061","display_name":null,"funder_award_id":"AEI/10.","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G8260616629","display_name":null,"funder_award_id":"011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G8638682022","display_name":null,"funder_award_id":"10.13039/50110001103","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"}],"funders":[{"id":"https://openalex.org/F4320311265","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28"},{"id":"https://openalex.org/F4320335598","display_name":"Agencia Estatal de Investigaci\u00f3n","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1521863117","https://openalex.org/W2089011450","https://openalex.org/W2131861451","https://openalex.org/W2522026148","https://openalex.org/W2569644762","https://openalex.org/W2913237624","https://openalex.org/W2945244988","https://openalex.org/W2989300838","https://openalex.org/W2999329771","https://openalex.org/W3009384434","https://openalex.org/W3018383179","https://openalex.org/W3037684272","https://openalex.org/W3080319816","https://openalex.org/W3081307321","https://openalex.org/W3088384007","https://openalex.org/W3089865507","https://openalex.org/W3109657708","https://openalex.org/W3121056417","https://openalex.org/W3122460059","https://openalex.org/W3180768952","https://openalex.org/W3203342121","https://openalex.org/W3206177224","https://openalex.org/W3209876736","https://openalex.org/W3215380830","https://openalex.org/W4280502022","https://openalex.org/W4285102533","https://openalex.org/W4316506832","https://openalex.org/W4327767966","https://openalex.org/W4380995357","https://openalex.org/W4387056954","https://openalex.org/W4390099851","https://openalex.org/W4391216063","https://openalex.org/W4391432133","https://openalex.org/W4399120052","https://openalex.org/W4401113728"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W4288714711","https://openalex.org/W3200708550","https://openalex.org/W2901195353","https://openalex.org/W2530004804","https://openalex.org/W2590712470","https://openalex.org/W1966857494","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"In":[0],"recent":[1],"decades,":[2],"robots":[3],"have":[4,12],"become":[5],"increasingly":[6],"popular":[7],"and":[8,16,38,72,110,126,145,159,163],"accessible.":[9],"New":[10],"frameworks":[11],"emerged":[13],"to":[14,42,87,96,175],"develop":[15],"communicate":[17,77],"robotic":[18],"applications,":[19],"with":[20,115,136,154,173],"ROS":[21,47,176],"2":[22,27,48,177],"or":[23,92],"Robot":[24],"Operating":[25],"System":[26],"entitled":[28],"as":[29],"the":[30,44,73,116,155,194],"preferred":[31],"choice.":[32],"Our":[33,165],"work":[34],"presents":[35],"a":[36,40,63,168,188],"testbed":[37],"defines":[39],"methodology":[41],"evaluate":[43],"validity":[45],"of":[46,65,118,130,171,190,196],"middleware":[49],"for":[50,161,192],"enabling":[51],"dependable":[52],"wireless":[53,79,178],"robot":[54,58],"swarm":[55,181],"communications.":[56,198],"Wireless":[57,81],"swarms":[59],"are":[60,83],"constrained":[61],"by":[62],"number":[64],"factors,":[66],"including":[67,139],"their":[68],"limited":[69],"computational":[70],"power":[71],"fact":[74],"that":[75],"they":[76],"over":[78],"mediums.":[80],"media":[82],"typically":[84],"more":[85],"susceptible":[86],"errors,":[88],"exhibit":[89],"higher":[90],"latencies,":[91],"may":[93],"be":[94,151],"subject":[95],"outage":[97],"zones.":[98],"Consequently,":[99],"this":[100],"paper":[101],"proposes":[102],"an":[103,120],"experimental":[104],"approach":[105],"using":[106],"genuine":[107],"robot-grade":[108],"hardware":[109],"employing":[111],"standard":[112],"communication":[113],"mechanisms,":[114],"objective":[117],"achieving":[119],"optimal":[121],"balance":[122],"between":[123],"messaging":[124],"reliability":[125],"delay.":[127],"A":[128],"series":[129,189],"test":[131],"cases":[132],"were":[133],"defined,":[134],"each":[135],"distinct":[137],"settings,":[138],"distance,":[140],"bit":[141],"coding,":[142],"diffusion":[143],"mechanism,":[144],"so":[146],"forth.":[147],"The":[148],"results":[149],"can":[150],"readily":[152],"replicated":[153],"publicly":[156],"available":[157],"code":[158],"scripts":[160],"tests":[162],"analysis.":[164],"findings":[166],"indicate":[167],"significant":[169],"lack":[170],"optimisation":[172],"respect":[174],"communications":[179],"in":[180],"scenarios.":[182],"To":[183],"address":[184],"this,":[185],"we":[186],"propose":[187],"recommendations":[191],"improving":[193],"efficiency":[195],"these":[197]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-25T14:56:36.534964","created_date":"2025-10-10T00:00:00"}
