{"id":"https://openalex.org/W4402299447","doi":"https://doi.org/10.1109/cdc56724.2024.10885873","title":"AoI-based switching control for safe haptic teleoperation over a wireless network","display_name":"AoI-based switching control for safe haptic teleoperation over a wireless network","publication_year":2024,"publication_date":"2024-12-16","ids":{"openalex":"https://openalex.org/W4402299447","doi":"https://doi.org/10.1109/cdc56724.2024.10885873"},"language":"en","primary_location":{"id":"doi:10.1109/cdc56724.2024.10885873","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc56724.2024.10885873","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 63rd Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/hal-04688895/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5109007981","display_name":"Yu Yeh","orcid":"https://orcid.org/0000-0003-4285-7224"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Yu Yeh","raw_affiliation_strings":["Université Paris Saclay; CentraleSupélec; L2S, CNRS,Gif-SurYvette,France"],"affiliations":[{"raw_affiliation_string":"Université Paris Saclay; CentraleSupélec; L2S, CNRS,Gif-SurYvette,France","institution_ids":["https://openalex.org/I4210107720","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085539388","display_name":"Vineeth S. Varma","orcid":"https://orcid.org/0000-0001-8762-2790"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I90183372","display_name":"Universit\u00e9 de Lorraine","ror":"https://ror.org/04vfs2w97","country_code":"FR","type":"education","lineage":["https://openalex.org/I90183372"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Vineeth S. Varma","raw_affiliation_strings":["Université de Lorraine, CNRS, CRAN,Nancy,France,54000"],"affiliations":[{"raw_affiliation_string":"Université de Lorraine, CNRS, CRAN,Nancy,France,54000","institution_ids":["https://openalex.org/I90183372","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073121153","display_name":"Salah Eddine Elayoubi","orcid":"https://orcid.org/0000-0001-9465-0546"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Salah. E. Elayoubi","raw_affiliation_strings":["Université Paris Saclay; CentraleSupélec; L2S, CNRS,Gif-SurYvette,France"],"affiliations":[{"raw_affiliation_string":"Université Paris Saclay; CentraleSupélec; L2S, CNRS,Gif-SurYvette,France","institution_ids":["https://openalex.org/I4210107720","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5109007981"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210107720"],"apc_list":null,"apc_paid":null,"fwci":0.2224,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.48410699,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"7644","last_page":"7649"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.996399998664856,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.996399998664856,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9549000263214111,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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":0.9537000060081482,"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/teleoperation","display_name":"Teleoperation","score":0.8667628765106201},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.7715873122215271},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.554900586605072},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.5200448036193848},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4919281005859375},{"id":"https://openalex.org/keywords/wireless-network","display_name":"Wireless network","score":0.4730730950832367},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4055666923522949},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.36242714524269104},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3300902545452118},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32922953367233276},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29080110788345337},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24738165736198425},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16492164134979248},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11863318085670471}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8667628765106201},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7715873122215271},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.554900586605072},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.5200448036193848},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4919281005859375},{"id":"https://openalex.org/C108037233","wikidata":"https://www.wikidata.org/wiki/Q11375","display_name":"Wireless network","level":3,"score":0.4730730950832367},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4055666923522949},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.36242714524269104},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3300902545452118},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32922953367233276},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29080110788345337},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24738165736198425},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16492164134979248},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11863318085670471}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc56724.2024.10885873","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc56724.2024.10885873","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 63rd Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04688895v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-04688895","pdf_url":"https://inria.hal.science/hal-04688895/document","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"63rd IEEE Conference on Decision and Control (CDC 2024), Dec 2024, Milan, Italy. ⟨10.1109/cdc56724.2024.10885873⟩","raw_type":"Conference papers"},{"id":"pmh:oai:zenodo.org:15682687","is_oa":true,"landing_page_url":"https://doi.org/10.1109/CDC56724.2024.10885873","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"info:eu-repo/semantics/other"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04688895v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-04688895","pdf_url":"https://inria.hal.science/hal-04688895/document","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"63rd IEEE Conference on Decision and Control (CDC 2024), Dec 2024, Milan, Italy. ⟨10.1109/cdc56724.2024.10885873⟩","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334322","display_name":"HORIZON EUROPE Framework Programme","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4402299447.pdf","grobid_xml":"https://content.openalex.org/works/W4402299447.grobid-xml"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W1490978409","https://openalex.org/W1895460310","https://openalex.org/W1966446550","https://openalex.org/W2070328658","https://openalex.org/W2091770693","https://openalex.org/W2120328935","https://openalex.org/W2138729712","https://openalex.org/W2145437427","https://openalex.org/W2164601454","https://openalex.org/W2335465525","https://openalex.org/W2782644296","https://openalex.org/W2986792518","https://openalex.org/W2999666197","https://openalex.org/W3000982547","https://openalex.org/W3121035078","https://openalex.org/W4200588931","https://openalex.org/W7075263309"],"related_works":["https://openalex.org/W2094105667","https://openalex.org/W3083255641","https://openalex.org/W2097347938","https://openalex.org/W2970545857","https://openalex.org/W2164858976","https://openalex.org/W2046710269","https://openalex.org/W817518365","https://openalex.org/W2097059456","https://openalex.org/W2141648055","https://openalex.org/W2145103607"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,127],"propose":[4],"a":[5,22,27,84,95,119,123],"switching":[6,79],"policy":[7,82],"based":[8],"on":[9,46,87],"the":[10,37,72,76,88,92,99,105,114,151,157,161],"Age":[11],"of":[12,30,40],"Information":[13],"(AoI)":[14],"to":[15,70,112,118,131],"enhance":[16],"safety":[17,54,78,144,181],"in":[18,32,56,174],"haptic":[19,58],"teleoperation":[20,59],"over":[21],"wireless":[23],"network,":[24],"which":[25],"is":[26,45,110],"key":[28],"application":[29],"interest":[31],"upcoming":[33],"6G":[34],"networks.":[35],"Given":[36],"unique":[38],"challenges":[39],"human-in-the-loop":[41],"scenarios,":[42],"our":[43,168],"focus":[44],"safety-oriented":[47],"control":[48,170],"since":[49],"imperfect":[50],"transmissions":[51],"could":[52],"introduce":[53,62,137],"risks":[55],"typical":[57],"scenarios.":[60],"We":[61,135],"an":[63],"AoI-based":[64,77,125],"Markov":[65],"Jump":[66],"Linear":[67],"System":[68],"(MJLS)":[69],"model":[71],"closed-loop":[73,133],"system,":[74],"considering":[75],"policy.":[80],"This":[81],"activates":[83],"\u201csafe\u201d":[85],"controller":[86,101],"remote":[89],"side":[90],"when":[91],"AoI":[93],"exceeds":[94],"predefined":[96],"threshold.":[97],"While":[98],"safe":[100,120,169],"does":[102],"not":[103],"know":[104],"desired":[106],"human":[107,152],"control,":[108],"it":[109],"able":[111],"bring":[113],"robot":[115],"or":[116],"plant":[117],"state.":[121],"For":[122],"given":[124],"threshold,":[126],"utilize":[128],"MJLS":[129],"properties":[130],"ensure":[132],"stability.":[134],"also":[136],"and":[138,182],"optimize":[139],"performance":[140,173],"criteria":[141],"that":[142,167],"address":[143],"issues":[145],"as":[146,148],"well":[147],"transparency":[149],"for":[150],"controller,":[153],"i.e.,":[154],"how":[155],"closely":[156],"system":[158],"can":[159],"follow":[160],"human\u2019s":[162],"intention.":[163],"Numerical":[164],"results":[165],"demonstrate":[166],"scheme":[171],"improves":[172],"2D":[175],"reference":[176],"tracking":[177],"tasks":[178],"while":[179],"ensuring":[180],"reducing":[183],"undesirable":[184],"behavior":[185],"like":[186],"overshoots.":[187]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-11T14:59:36.786465","created_date":"2025-10-10T00:00:00"}