{"id":"https://openalex.org/W4398164436","doi":"https://doi.org/10.1109/icmre60776.2024.10532170","title":"Robust and Scalable Swarming of Quadruped Robots for Chemical, Biological, Radiological, and Nuclear Source Localisation","display_name":"Robust and Scalable Swarming of Quadruped Robots for Chemical, Biological, Radiological, and Nuclear Source Localisation","publication_year":2024,"publication_date":"2024-02-27","ids":{"openalex":"https://openalex.org/W4398164436","doi":"https://doi.org/10.1109/icmre60776.2024.10532170"},"language":"en","primary_location":{"id":"doi:10.1109/icmre60776.2024.10532170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmre60776.2024.10532170","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th International Conference on Mechatronics and Robotics Engineering (ICMRE)","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/A5066799557","display_name":"Rafiqul Islam","orcid":"https://orcid.org/0000-0003-0920-5697"},"institutions":[{"id":"https://openalex.org/I188329596","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328","country_code":"AU","type":"education","lineage":["https://openalex.org/I188329596"]},{"id":"https://openalex.org/I4394709116","display_name":"UNSW Canberra","ror":"https://ror.org/0125wpx05","country_code":null,"type":"education","lineage":["https://openalex.org/I31746571","https://openalex.org/I4394709116"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Rafiqul Islam","raw_affiliation_strings":["SET, UNSW Canberra,Australia","SET, UNSW Canberra, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SET, UNSW Canberra,Australia","institution_ids":["https://openalex.org/I188329596","https://openalex.org/I4394709116"]},{"raw_affiliation_string":"SET, UNSW Canberra, Australia","institution_ids":["https://openalex.org/I188329596","https://openalex.org/I4394709116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032529996","display_name":"Sreenatha G. Anavatti","orcid":"https://orcid.org/0000-0002-4754-8191"},"institutions":[{"id":"https://openalex.org/I188329596","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328","country_code":"AU","type":"education","lineage":["https://openalex.org/I188329596"]},{"id":"https://openalex.org/I4394709116","display_name":"UNSW Canberra","ror":"https://ror.org/0125wpx05","country_code":null,"type":"education","lineage":["https://openalex.org/I31746571","https://openalex.org/I4394709116"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Sreenatha Anavatti","raw_affiliation_strings":["SET, UNSW Canberra,Australia","SET, UNSW Canberra, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SET, UNSW Canberra,Australia","institution_ids":["https://openalex.org/I188329596","https://openalex.org/I4394709116"]},{"raw_affiliation_string":"SET, UNSW Canberra, Australia","institution_ids":["https://openalex.org/I188329596","https://openalex.org/I4394709116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047705901","display_name":"Kathryn Kasmarik","orcid":"https://orcid.org/0000-0001-7187-0474"},"institutions":[{"id":"https://openalex.org/I188329596","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328","country_code":"AU","type":"education","lineage":["https://openalex.org/I188329596"]},{"id":"https://openalex.org/I4394709116","display_name":"UNSW Canberra","ror":"https://ror.org/0125wpx05","country_code":null,"type":"education","lineage":["https://openalex.org/I31746571","https://openalex.org/I4394709116"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Kathryn Kasmarik","raw_affiliation_strings":["SSC, UNSW Canberra,Australia","SSC, UNSW Canberra, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SSC, UNSW Canberra,Australia","institution_ids":["https://openalex.org/I188329596","https://openalex.org/I4394709116"]},{"raw_affiliation_string":"SSC, UNSW Canberra, Australia","institution_ids":["https://openalex.org/I188329596","https://openalex.org/I4394709116"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064811459","display_name":"Matthew Garratt","orcid":"https://orcid.org/0000-0003-0222-430X"},"institutions":[{"id":"https://openalex.org/I188329596","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328","country_code":"AU","type":"education","lineage":["https://openalex.org/I188329596"]},{"id":"https://openalex.org/I4394709116","display_name":"UNSW Canberra","ror":"https://ror.org/0125wpx05","country_code":null,"type":"education","lineage":["https://openalex.org/I31746571","https://openalex.org/I4394709116"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Matt Garratt","raw_affiliation_strings":["SET, UNSW Canberra,Australia","SET, UNSW Canberra, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SET, UNSW Canberra,Australia","institution_ids":["https://openalex.org/I188329596","https://openalex.org/I4394709116"]},{"raw_affiliation_string":"SET, UNSW Canberra, Australia","institution_ids":["https://openalex.org/I188329596","https://openalex.org/I4394709116"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9406,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.74851244,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"56","last_page":"62"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12321","display_name":"Insect Pheromone Research and Control","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1109","display_name":"Insect Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T12321","display_name":"Insect Pheromone Research and Control","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1109","display_name":"Insect Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11667","display_name":"Advanced Chemical Sensor Technologies","score":0.9837999939918518,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.963699996471405,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7173084020614624},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7046186327934265},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6940617561340332},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6504802703857422},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6257287263870239},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6056255102157593},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.5384924411773682},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.5107243061065674},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.5006246566772461},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4663618803024292},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36784225702285767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33886659145355225},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.12362521886825562},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08802881836891174}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7173084020614624},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7046186327934265},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6940617561340332},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6504802703857422},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6257287263870239},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6056255102157593},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.5384924411773682},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.5107243061065674},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.5006246566772461},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4663618803024292},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36784225702285767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33886659145355225},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.12362521886825562},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08802881836891174},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icmre60776.2024.10532170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmre60776.2024.10532170","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th International Conference on Mechatronics and Robotics Engineering (ICMRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320335334","display_name":"Defence Science and Technology Group","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2062044314","https://openalex.org/W2164128461","https://openalex.org/W2167340365","https://openalex.org/W2543580944","https://openalex.org/W2843555282","https://openalex.org/W2909553221","https://openalex.org/W2910979794","https://openalex.org/W2952562136","https://openalex.org/W3107207013","https://openalex.org/W3133248215","https://openalex.org/W3136791093","https://openalex.org/W3161653370","https://openalex.org/W3171159879","https://openalex.org/W3184384085","https://openalex.org/W3197306729","https://openalex.org/W4206226749","https://openalex.org/W4243369158","https://openalex.org/W4286215669","https://openalex.org/W4308518352","https://openalex.org/W4311519329","https://openalex.org/W4312562931","https://openalex.org/W4312656265","https://openalex.org/W4317553488","https://openalex.org/W4377043137","https://openalex.org/W4379742082","https://openalex.org/W4383822061"],"related_works":["https://openalex.org/W4390585229","https://openalex.org/W1550790738","https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W1988876749","https://openalex.org/W65954170","https://openalex.org/W2518382144","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166"],"abstract_inverted_index":{"In":[0],"this":[1,30],"paper,":[2],"a":[3,22,55,61,70,80,147],"robust":[4],"and":[5,15,48,59,103,114,129,150],"scalable":[6],"method":[7],"for":[8,69],"the":[9,33,42,119,127,132,159,162],"localisation":[10,122],"of":[11,24,29,35,64,72,97,131,161],"Chemical,":[12],"Biological,":[13],"Radiological,":[14],"Nuclear":[16],"(CBRN)":[17],"sources":[18],"is":[19,32,93],"introduced":[20],"using":[21],"swarm":[23,71],"quadruped":[25,73,87],"robots.":[26],"A":[27],"cornerstone":[28],"work":[31],"development":[34],"an":[36,94],"advanced":[37],"simulation":[38],"environment":[39,53],"built":[40],"on":[41],"Robot":[43],"Operating":[44],"System":[45],"2":[46],"(ROS2)":[47],"compatible":[49],"with":[50],"Gazebo.":[51],"This":[52,91],"features":[54,105],"sophisticated":[56],"physics":[57],"engine":[58],"supports":[60],"wide":[62],"array":[63],"sensors,":[65],"offering":[66],"unprecedented":[67],"scalability":[68],"robot":[74],"simulations.":[75],"Following":[76],"this,":[77],"we":[78],"present":[79],"novel":[81],"swarming":[82],"algorithm":[83,92],"designed":[84],"to":[85,117],"exploit":[86],"robots\u2019":[88],"unique":[89],"kinematics.":[90],"enhanced":[95],"extension":[96],"traditional":[98],"Particle":[99],"Swarm":[100],"Optimisation":[101],"(PSO)":[102],"incorporates":[104],"such":[106],"as":[107],"obstacle":[108],"avoidance,":[109],"separation":[110],"policies,":[111],"velocity":[112],"clamping":[113],"boundary":[115],"constraints":[116],"optimise":[118],"CBRN":[120,154],"source":[121,155],"process.":[123],"To":[124],"rigorously":[125],"assess":[126],"robustness":[128],"efficacy":[130],"proposed":[133,163],"method,":[134],"extensive":[135],"experiments":[136],"are":[137],"conducted":[138],"in":[139,153],"three":[140],"different":[141],"environmental":[142],"setups.":[143],"The":[144],"results":[145],"reveal":[146],"remarkable":[148],"convergence":[149],"success":[151],"rate":[152],"localisation,":[156],"thereby":[157],"substantiating":[158],"effectiveness":[160],"method.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}