{"id":"https://openalex.org/W4387143390","doi":"https://doi.org/10.1109/case56687.2023.10260411","title":"An Efficient Scalable Autonomy Approach for Teams of Heterogeneous Mobile Robots","display_name":"An Efficient Scalable Autonomy Approach for Teams of Heterogeneous Mobile Robots","publication_year":2023,"publication_date":"2023-08-26","ids":{"openalex":"https://openalex.org/W4387143390","doi":"https://doi.org/10.1109/case56687.2023.10260411"},"language":"en","primary_location":{"id":"doi:10.1109/case56687.2023.10260411","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/case56687.2023.10260411","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 19th 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/A5056517421","display_name":"Tristan Schnell","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Tristan Schnell","raw_affiliation_strings":["FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092897582","display_name":"David Oberacker","orcid":"https://orcid.org/0000-0003-2442-4142"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"David Oberacker","raw_affiliation_strings":["FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092962550","display_name":"Felix Exner","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Felix Exner","raw_affiliation_strings":["FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044854758","display_name":"Lennart Puck","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lennart Puck","raw_affiliation_strings":["FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049138068","display_name":"Marvin Gro\u00dfe Besselmann","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marvin Grosse Besselmann","raw_affiliation_strings":["FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038461350","display_name":"Niklas Spielbauer","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Niklas Spielbauer","raw_affiliation_strings":["FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041035798","display_name":"C. Plasberg","orcid":"https://orcid.org/0000-0002-6428-2997"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Carsten Plasberg","raw_affiliation_strings":["FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072884786","display_name":"Arne Roennau","orcid":"https://orcid.org/0000-0002-6090-607X"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Arne Roennau","raw_affiliation_strings":["FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112552331","display_name":"R\u00fcdiger Dillmann","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"R\u00fcdiger Dillmann","raw_affiliation_strings":["FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5056517421"],"corresponding_institution_ids":["https://openalex.org/I143379178"],"apc_list":null,"apc_paid":null,"fwci":0.5197,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.60557614,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9973999857902527,"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":0.9973999857902527,"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/T10772","display_name":"Distributed systems and fault tolerance","score":0.9958000183105469,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9768000245094299,"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/scalability","display_name":"Scalability","score":0.8039798736572266},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7310013771057129},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.724586009979248},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6602688431739807},{"id":"https://openalex.org/keywords/modularity","display_name":"Modularity (biology)","score":0.604508101940155},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5813374519348145},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5465031862258911},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4570903182029724},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4502449035644531},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4174268841743469},{"id":"https://openalex.org/keywords/delegation","display_name":"Delegation","score":0.4147217869758606},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36701083183288574},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23879125714302063}],"concepts":[{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.8039798736572266},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7310013771057129},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.724586009979248},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6602688431739807},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.604508101940155},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5813374519348145},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5465031862258911},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4570903182029724},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4502449035644531},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4174268841743469},{"id":"https://openalex.org/C86532276","wikidata":"https://www.wikidata.org/wiki/Q1184065","display_name":"Delegation","level":2,"score":0.4147217869758606},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36701083183288574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23879125714302063},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case56687.2023.10260411","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/case56687.2023.10260411","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1972391046","https://openalex.org/W2083408453","https://openalex.org/W2470251436","https://openalex.org/W2613240854","https://openalex.org/W2908657151","https://openalex.org/W2914661444","https://openalex.org/W3032595366","https://openalex.org/W3090939124","https://openalex.org/W3096656822","https://openalex.org/W3152770304","https://openalex.org/W3178141910","https://openalex.org/W3203229917","https://openalex.org/W4284889893","https://openalex.org/W4301030417","https://openalex.org/W4312364882","https://openalex.org/W6756486208","https://openalex.org/W6810468777","https://openalex.org/W6850443520","https://openalex.org/W7047970612"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2387399993","https://openalex.org/W2048862765","https://openalex.org/W2389739210","https://openalex.org/W2770942502","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W4281943815"],"abstract_inverted_index":{"Real-world":[0],"scenarios":[1,197],"for":[2,12,95,110,147],"mobile":[3],"robots":[4,173,190],"promise":[5],"an":[6],"increase":[7,185],"in":[8,134,144,175,191],"productivity":[9],"and":[10,32,63,72,88,90,151,159,184,195],"safety":[11],"humans":[13],"or":[14],"the":[15,27,33,57,60,125,135,156,186],"exploration":[16,150],"of":[17,29,35,112,127,161,169,171,182,188],"new":[18],"frontiers.":[19],"These":[20],"complex":[21],"challenges,":[22],"though,":[23],"require":[24],"tradeoffs":[25],"between":[26,85],"efficiency":[28],"autonomous":[30,121,189],"operation":[31,143],"reliability":[34],"manual":[36],"operator":[37,61,98,201],"control.":[38],"Additionally,":[39],"when":[40],"scaling":[41],"towards":[42,59],"larger":[43],"scale":[44],"solutions,":[45],"potentially":[46],"heterogeneous":[47],"robot":[48,76,103],"teams":[49,170],"have":[50],"to":[51,99,155],"be":[52],"managed":[53],"together,":[54],"further":[55],"increasing":[56],"requirements":[58],"systems":[62],"strategies":[64],"used.":[65],"To":[66],"assist":[67],"with":[68,93,178,198],"this,":[69],"we":[70],"present":[71],"implement":[73],"a":[74,96,102,148,179],"general,":[75],"independent":[77],"scalable":[78],"autonomy":[79,87],"approach.":[80],"It":[81],"allows":[82,109],"seamless":[83],"scalability":[84,160],"full":[86],"teleoperation":[89],"is":[91],"equipped":[92],"tooling":[94],"single":[97],"efficiently":[100],"control":[101,168],"team.":[104],"A":[105],"focus":[106],"on":[107],"modularity":[108],"integration":[111],"arbitrary":[113,172],"robots,":[114],"while":[115],"effectively":[116],"utilizing":[117],"their":[118],"already":[119],"existing":[120],"capabilities.":[122],"We":[123],"demonstrate":[124],"effectiveness":[126],"our":[128,162],"approach,":[129],"by":[130],"describing":[131],"its":[132],"usage":[133],"ESA-ESRIC":[136],"Space":[137],"Resources":[138],"Challenge,":[139],"which":[140],"required":[141],"safe":[142],"realistic":[145],"conditions":[146],"lunar":[149],"prospecting":[152],"mission.":[153],"Due":[154],"easy":[157],"adaptability":[158],"system,":[163],"it":[164],"can":[165],"help":[166],"ease":[167],"both":[174],"difficult":[176],"situations":[177],"high":[180],"degree":[181],"uncertainty":[183],"capabilities":[187],"more":[192],"controlled":[193],"inspection":[194],"maintenance":[196],"only":[199],"little":[200],"intervention.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
