{"id":"https://openalex.org/W4312999623","doi":"https://doi.org/10.1109/case49997.2022.9926515","title":"On the Way from Lightweight to Powerful Intelligence: A Heterogeneous Multi-Robot Social System with IoT Devices","display_name":"On the Way from Lightweight to Powerful Intelligence: A Heterogeneous Multi-Robot Social System with IoT Devices","publication_year":2022,"publication_date":"2022-08-20","ids":{"openalex":"https://openalex.org/W4312999623","doi":"https://doi.org/10.1109/case49997.2022.9926515"},"language":"en","primary_location":{"id":"doi:10.1109/case49997.2022.9926515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926515","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5119309918","display_name":"Qian Zhang","orcid":"https://orcid.org/0000-0001-5314-4233"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qian Zhang","raw_affiliation_strings":["Tsinghua University,Beijing,China,100084","Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014891527","display_name":"Ruiyang Quan","orcid":null},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruiyang Quan","raw_affiliation_strings":["Tsinghua University,Beijing,China,100084","Chongqing University of Posts and Telecommunications, Chongqing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Chongqing University of Posts and Telecommunications, Chongqing, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044209803","display_name":"Siqin Qimuge","orcid":null},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siqin Qimuge","raw_affiliation_strings":["Tsinghua University,Beijing,China,100084","Beijing Jiaotong University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100618502","display_name":"Rui Wei","orcid":"https://orcid.org/0009-0006-8597-5924"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Wei","raw_affiliation_strings":["Chongqing University,Chongqing,China,400044"],"affiliations":[{"raw_affiliation_string":"Chongqing University,Chongqing,China,400044","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085109649","display_name":"Xin Zan","orcid":"https://orcid.org/0000-0002-1467-9347"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Zan","raw_affiliation_strings":["Xi’an Jiaotong University,Xi’an,China,710049"],"affiliations":[{"raw_affiliation_string":"Xi’an Jiaotong University,Xi’an,China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007956048","display_name":"Fangshi Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangshi Wang","raw_affiliation_strings":["Beijing Jiaotong University,Beijing,China,100044"],"affiliations":[{"raw_affiliation_string":"Beijing Jiaotong University,Beijing,China,100044","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057443408","display_name":"Changchuan Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changchuan Chen","raw_affiliation_strings":["Chongqing University of Posts and Telecommunications,Chongqing,China,400065"],"affiliations":[{"raw_affiliation_string":"Chongqing University of Posts and Telecommunications,Chongqing,China,400065","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075311656","display_name":"Qi Wei","orcid":"https://orcid.org/0000-0003-3189-7562"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Wei","raw_affiliation_strings":["Tsinghua University,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006520303","display_name":"Xin-Jun Liu","orcid":"https://orcid.org/0000-0001-8252-8367"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinjun Liu","raw_affiliation_strings":["Tsinghua University,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063901096","display_name":"Fei Qiao","orcid":"https://orcid.org/0000-0002-5054-9590"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Qiao","raw_affiliation_strings":["Tsinghua University,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5119309918"],"corresponding_institution_ids":["https://openalex.org/I87445476","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.5555,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.62377351,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"842","last_page":"848"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994000196456909,"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/T13382","display_name":"Robotics and Automated Systems","score":0.998199999332428,"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/computer-science","display_name":"Computer science","score":0.7258685827255249},{"id":"https://openalex.org/keywords/internet-of-things","display_name":"Internet of Things","score":0.6460215449333191},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5983440279960632},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.48023825883865356},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.4449705481529236},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.39551079273223877},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31946590542793274},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.2989846467971802},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.20205500721931458}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7258685827255249},{"id":"https://openalex.org/C81860439","wikidata":"https://www.wikidata.org/wiki/Q251212","display_name":"Internet of Things","level":2,"score":0.6460215449333191},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5983440279960632},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.48023825883865356},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.4449705481529236},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.39551079273223877},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31946590542793274},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.2989846467971802},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.20205500721931458}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case49997.2022.9926515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926515","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","score":0.5699999928474426,"display_name":"Decent work and economic growth"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W24289143","https://openalex.org/W156779288","https://openalex.org/W612478963","https://openalex.org/W1643815198","https://openalex.org/W1970504153","https://openalex.org/W2021851106","https://openalex.org/W2040134986","https://openalex.org/W2076917298","https://openalex.org/W2091226544","https://openalex.org/W2105503847","https://openalex.org/W2118428504","https://openalex.org/W2145023731","https://openalex.org/W2151290401","https://openalex.org/W2153054365","https://openalex.org/W2215578878","https://openalex.org/W2334682945","https://openalex.org/W2461937780","https://openalex.org/W2773890870","https://openalex.org/W2906636743","https://openalex.org/W2950989657","https://openalex.org/W2964648456","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3124420883","https://openalex.org/W3131673036","https://openalex.org/W3131697353","https://openalex.org/W3165610079","https://openalex.org/W3206924710","https://openalex.org/W6785869018","https://openalex.org/W6795742097"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2133150803","https://openalex.org/W2108809812","https://openalex.org/W2082173922","https://openalex.org/W2933829981","https://openalex.org/W2063471269","https://openalex.org/W2742736081","https://openalex.org/W4389264240","https://openalex.org/W2085401368"],"abstract_inverted_index":{"As":[0],"robots":[1,45],"play":[2],"an":[3,52],"increasingly":[4],"important":[5],"role":[6],"in":[7],"people\u2019s":[8],"lives,":[9],"researchers":[10],"are":[11],"working":[12],"on":[13,29,44,139],"robotic":[14,64],"vehicles":[15],"with":[16,46,156],"powerful":[17,59],"intelligence.":[18],"However,":[19],"a":[20,62,69,87,109,124],"problem":[21],"that":[22,164],"cannot":[23],"be":[24],"ignored":[25],"is":[26],"resource":[27,37,78],"constraints":[28,38],"the":[30,33,76,83,95,101,116,133,140,157,165],"edge.":[31],"Considering":[32],"gaming":[34],"issues":[35],"of":[36,54,71,94,103,167],"and":[39,50,105,128,162],"intelligence":[40,60],"level,":[41],"we":[42,67,81,107,152],"focus":[43],"limited":[47],"computing":[48],"resources":[49,104],"propose":[51],"idea":[53],"changing":[55],"from":[56],"lightweight":[57,77,125],"to":[58,75,90,122],"for":[61],"smart":[63],"system.":[65,97,114,131],"Firstly,":[66],"design":[68],"series":[70],"ultra-lightweight":[72,84,111,134],"algorithms":[73,85],"according":[74],"Limitation.":[79],"Second,":[80],"collaborate":[82],"through":[86],"centralized-distributed":[88],"architecture":[89,118],"achieve":[91],"intelligent":[92],"upgrading":[93],"whole":[96],"Then,":[98],"by":[99,173],"maximizing":[100],"use":[102],"information,":[106],"accomplish":[108],"heterogeneous":[110,149],"multi-robotic":[112],"collaborative":[113,150,160],"Finally,":[115],"presented":[117],"has":[119],"been":[120,147],"applied":[121],"realize":[123],"simultaneous":[126],"localization":[127],"mapping":[129],"(SLAM)":[130],"Experimentally,":[132],"algorithm":[135],"achieves":[136],"900":[137],"fps":[138],"server":[141],"experimental":[142],"platform.":[143],"Since":[144],"there":[145],"have":[146],"less":[148],"methods,":[151],"further":[153],"compared":[154],"it":[155],"state-of-the-art":[158],"homogeneous":[159],"system":[161,170],"proved":[163],"accuracy":[166],"our":[168],"proposed":[169],"was":[171],"improved":[172],"45.98%.":[174]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}