{"id":"https://openalex.org/W4416078098","doi":"https://doi.org/10.1109/access.2025.3630823","title":"Hybrid Decision Making via Deep Learning for Integrated Visual Object Detection, Pose Estimation, and Energy Control in IoT Connected Multi-Robot Systems Using 5G Network","display_name":"Hybrid Decision Making via Deep Learning for Integrated Visual Object Detection, Pose Estimation, and Energy Control in IoT Connected Multi-Robot Systems Using 5G Network","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4416078098","doi":"https://doi.org/10.1109/access.2025.3630823"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3630823","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3630823","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.2025.3630823","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093519147","display_name":"Mohamed Dwedar","orcid":"https://orcid.org/0009-0002-9490-837X"},"institutions":[{"id":"https://openalex.org/I41121874","display_name":"Heilbronn University","ror":"https://ror.org/04g5gcg95","country_code":"DE","type":"education","lineage":["https://openalex.org/I41121874"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mohamed Dwedar","raw_affiliation_strings":["Intelligent Cyber Physical Institution, Heilbronn University of Applied Science, Heilbronn, Germany","Intelligent Cyber Physical Institution, Heilbronn University of Applied Science, Germany"],"raw_orcid":"https://orcid.org/0009-0002-9490-837X","affiliations":[{"raw_affiliation_string":"Intelligent Cyber Physical Institution, Heilbronn University of Applied Science, Heilbronn, Germany","institution_ids":["https://openalex.org/I41121874"]},{"raw_affiliation_string":"Intelligent Cyber Physical Institution, Heilbronn University of Applied Science, Germany","institution_ids":["https://openalex.org/I41121874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075009378","display_name":"Alexander Jesser","orcid":"https://orcid.org/0000-0003-2067-6860"},"institutions":[{"id":"https://openalex.org/I41121874","display_name":"Heilbronn University","ror":"https://ror.org/04g5gcg95","country_code":"DE","type":"education","lineage":["https://openalex.org/I41121874"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Jesser","raw_affiliation_strings":["Intelligent Cyber Physical Institution, Heilbronn University of Applied Science, Heilbronn, Germany","Intelligent Cyber Physical Institution, Heilbronn University of Applied Science, Germany"],"raw_orcid":"https://orcid.org/0000-0003-2067-6860","affiliations":[{"raw_affiliation_string":"Intelligent Cyber Physical Institution, Heilbronn University of Applied Science, Heilbronn, Germany","institution_ids":["https://openalex.org/I41121874"]},{"raw_affiliation_string":"Intelligent Cyber Physical Institution, Heilbronn University of Applied Science, Germany","institution_ids":["https://openalex.org/I41121874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.29297357,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"194832","last_page":"194849"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.2410999983549118,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.2410999983549118,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.19009999930858612,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T13382","display_name":"Robotics and Automated Systems","score":0.07779999822378159,"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/deep-learning","display_name":"Deep learning","score":0.5728999972343445},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5565999746322632},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.4528999924659729},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.4498000144958496},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4456999897956848},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4352000057697296},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.43070000410079956},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4196000099182129},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35440000891685486},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3476000130176544}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8224999904632568},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6263999938964844},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5728999972343445},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5565999746322632},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4700999855995178},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.4528999924659729},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.4498000144958496},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4456999897956848},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4352000057697296},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.43070000410079956},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4196000099182129},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3813000023365021},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35440000891685486},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3476000130176544},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3440000116825104},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.34150001406669617},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.3400999903678894},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33489999175071716},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.3190000057220459},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30880001187324524},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.29750001430511475},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.29249998927116394},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.2912999987602234},{"id":"https://openalex.org/C155846161","wikidata":"https://www.wikidata.org/wiki/Q1143367","display_name":"Graphical model","level":2,"score":0.2865999937057495},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.2856000065803528},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.28119999170303345},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.27630001306533813},{"id":"https://openalex.org/C193415008","wikidata":"https://www.wikidata.org/wiki/Q639681","display_name":"Network architecture","level":2,"score":0.27619999647140503},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.27379998564720154},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.27300000190734863},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2680000066757202},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.26420000195503235},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.26190000772476196},{"id":"https://openalex.org/C56397880","wikidata":"https://www.wikidata.org/wiki/Q6044094","display_name":"Intelligent decision support system","level":2,"score":0.259799987077713},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2558000087738037}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3630823","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3630823","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:doaj.org/article:894d70763b124aaa802ca3dd7dd43731","is_oa":true,"landing_page_url":"https://doaj.org/article/894d70763b124aaa802ca3dd7dd43731","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 13, Pp 194832-194849 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3630823","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3630823","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":2,"referenced_works":["https://openalex.org/W1861492603","https://openalex.org/W3096609285"],"related_works":[],"abstract_inverted_index":{"In":[0],"dynamic,":[1],"real-world":[2],"environments,":[3],"effective":[4],"decision-making":[5],"in":[6,112,136,168,207],"Multi-Robot":[7],"Systems":[8],"(MRS)":[9],"requires":[10],"both":[11],"robust":[12],"perception":[13,23],"and":[14,24,57,80,88,109,123,131,150,157,177,192],"scalable":[15],"inter-agent":[16,152],"coordination.":[17],"This":[18],"work":[19,187],"presents":[20],"a":[21,29,38,164,189],"unified":[22],"control":[25,179],"framework":[26,117],"that":[27,140],"leverages":[28],"Faster":[30],"Region-Based":[31],"Convolutional":[32],"Neural":[33],"Network":[34],"(Faster-RCNN)":[35],"integrated":[36],"with":[37],"Perspective-n-Point":[39],"(PnP)":[40],"optimization":[41],"layer":[42],"collectively":[43],"referred":[44],"to":[45,50,181],"as":[46,128],"the":[47,141,171,201],"Faster-RCNN-Pose":[48],"pipeline":[49,94,195],"enable":[51],"accurate,":[52],"low":[53,147],"latency":[54,162,174],"object":[55,76],"detection":[56],"6-DoF":[58],"pose":[59,148],"estimation":[60],"across":[61],"heterogeneous":[62],"robotic":[63],"agents.":[64],"Unlike":[65],"traditional":[66],"decoupled":[67],"pipelines,":[68],"our":[69],"end-to-end":[70],"architecture":[71],"performs":[72],"simultaneous":[73],"inference":[74],"of":[75,203],"class,":[77],"bounding":[78],"box,":[79],"spatial":[81,105],"orientation,":[82],"thereby":[83],"improving":[84],"system":[85,142,172],"level":[86],"responsiveness":[87],"decision":[89,183],"fidelity.":[90],"By":[91],"embedding":[92],"this":[93,186],"within":[95],"an":[96],"MQTT-based":[97],"5G":[98],"communication":[99,161],"infrastructure,":[100],"robots":[101],"can":[102],"rapidly":[103],"share":[104],"awareness,":[106],"allocate":[107],"tasks,":[108],"coordinate":[110],"actions":[111],"real":[113],"time.":[114],"The":[115],"proposed":[116],"supports":[118],"energy-aware":[119],"navigation,":[120],"multi-agent":[121],"collaboration,":[122],"dynamic":[124],"task":[125],"reallocation,":[126],"even":[127],"mission":[129],"complexity":[130],"fleet":[132],"size":[133],"increase.":[134],"Evaluations":[135],"open-environment":[137],"deployments":[138],"confirm":[139],"maintains":[143],"high":[144],"localization":[145],"accuracy,":[146],"error,":[149],"consistent":[151],"coordination":[153],"under":[154],"motion,":[155],"occlusion,":[156],"environmental":[158],"variability.":[159],"While":[160],"remains":[163],"relevant":[165],"constraint,":[166],"especially":[167],"brokered":[169],"architectures,":[170],"includes":[173],"compensation":[175],"mechanisms":[176],"predictive":[178],"logic":[180],"preserve":[182],"consistency.":[184],"Overall,":[185],"contributes":[188],"modular,":[190],"scalable,":[191],"communication-resilient":[193],"perception-to-decision":[194],"for":[196],"next-generation":[197],"IoT-connected":[198],"MRS,":[199],"advancing":[200],"frontier":[202],"distributed":[204],"collaborative":[205],"robotics":[206],"unstructured,":[208],"high-variability":[209],"environments.":[210]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-10T00:00:00"}