{"id":"https://openalex.org/W2913297382","doi":"https://doi.org/10.1109/icra.2019.8793261","title":"Mixed-Granularity Human-Swarm Interaction","display_name":"Mixed-Granularity Human-Swarm Interaction","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2913297382","doi":"https://doi.org/10.1109/icra.2019.8793261","mag":"2913297382"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793261","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1901.08522","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030771242","display_name":"Jayam Patel","orcid":null},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jayam Patel","raw_affiliation_strings":["Robotics Engineering, Worcester Polytechnic Institute, MA, USA","Worcester polytechnic Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Engineering, Worcester Polytechnic Institute, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Worcester polytechnic Institute","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081237205","display_name":"Yicong Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]},{"id":"https://openalex.org/I41154525","display_name":"PTC (United States)","ror":"https://ror.org/03qqbvj08","country_code":"US","type":"company","lineage":["https://openalex.org/I41154525"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yicong Xu","raw_affiliation_strings":["PTC Inc, MA, USA","Worcester polytechnic Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PTC Inc, MA, USA","institution_ids":["https://openalex.org/I41154525"]},{"raw_affiliation_string":"Worcester polytechnic Institute","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034543991","display_name":"Carlo Pinciroli","orcid":"https://orcid.org/0000-0002-2155-0445"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carlo Pinciroli","raw_affiliation_strings":["Robotics Engineering, Worcester Polytechnic Institute, MA, USA","[Robotics Engineering, Worcester Polytechnic Institute, MA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Engineering, Worcester Polytechnic Institute, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"[Robotics Engineering, Worcester Polytechnic Institute, MA, USA]","institution_ids":["https://openalex.org/I107077323"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1059","last_page":"1065"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9976999759674072,"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/T10789","display_name":"Interactive and Immersive Displays","score":0.9973000288009644,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.8012917041778564},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.7636361122131348},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.7060627937316895},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7030457258224487},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6894197463989258},{"id":"https://openalex.org/keywords/granularity","display_name":"Granularity","score":0.6714989542961121},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6438120603561401},{"id":"https://openalex.org/keywords/modalities","display_name":"Modalities","score":0.53383868932724},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.5305148959159851},{"id":"https://openalex.org/keywords/virtual-machine","display_name":"Virtual machine","score":0.47980549931526184},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.46876972913742065},{"id":"https://openalex.org/keywords/human-interaction","display_name":"Human interaction","score":0.44183623790740967},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.4129263758659363},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3376363515853882},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.07537749409675598}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.8012917041778564},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.7636361122131348},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.7060627937316895},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7030457258224487},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6894197463989258},{"id":"https://openalex.org/C177774035","wikidata":"https://www.wikidata.org/wiki/Q1246948","display_name":"Granularity","level":2,"score":0.6714989542961121},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6438120603561401},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.53383868932724},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.5305148959159851},{"id":"https://openalex.org/C25344961","wikidata":"https://www.wikidata.org/wiki/Q192726","display_name":"Virtual machine","level":2,"score":0.47980549931526184},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.46876972913742065},{"id":"https://openalex.org/C2987082051","wikidata":"https://www.wikidata.org/wiki/Q223642","display_name":"Human interaction","level":2,"score":0.44183623790740967},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.4129263758659363},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3376363515853882},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.07537749409675598},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2019.8793261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793261","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1901.08522","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1901.08522","pdf_url":"https://arxiv.org/pdf/1901.08522","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2913297382","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1901.08522","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1901.08522","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1901.08522","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1901.08522","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1901.08522","pdf_url":"https://arxiv.org/pdf/1901.08522","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2913297382.pdf","grobid_xml":"https://content.openalex.org/works/W2913297382.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W2292208","https://openalex.org/W1481103847","https://openalex.org/W1528027857","https://openalex.org/W1556924139","https://openalex.org/W1590784139","https://openalex.org/W1854667150","https://openalex.org/W1986523056","https://openalex.org/W2017150251","https://openalex.org/W2074713499","https://openalex.org/W2109664384","https://openalex.org/W2118331730","https://openalex.org/W2118389263","https://openalex.org/W2157289187","https://openalex.org/W2267863633","https://openalex.org/W2322584079","https://openalex.org/W2513313098","https://openalex.org/W2533619018","https://openalex.org/W2562583785","https://openalex.org/W2577675456","https://openalex.org/W6633724138"],"related_works":["https://openalex.org/W2969014073","https://openalex.org/W2973607517","https://openalex.org/W1566181928","https://openalex.org/W2938913550","https://openalex.org/W2334160811","https://openalex.org/W13550320","https://openalex.org/W2993390435","https://openalex.org/W2913133035","https://openalex.org/W2262640785","https://openalex.org/W1583176730","https://openalex.org/W2999910018","https://openalex.org/W2785894210","https://openalex.org/W2187188110","https://openalex.org/W2127999575","https://openalex.org/W2911635982","https://openalex.org/W3005227403","https://openalex.org/W2238475642","https://openalex.org/W2934935265","https://openalex.org/W2118369867","https://openalex.org/W2603760403"],"abstract_inverted_index":{"We":[0],"present":[1],"an":[2],"augmented":[3],"reality":[4],"human-swarm":[5],"interface":[6],"that":[7,66,104],"combines":[8],"two":[9,106],"modalities":[10],"of":[11],"interaction:":[12],"environment-oriented":[13,17,67,94],"and":[14,103],"robot-oriented.":[15],"The":[16,40],"modality":[18,42],"allows":[19],"the":[20,24,37,105],"user":[21,84],"to":[22,30,34,46,50,53,56,73],"modify":[23],"environment":[25],"(either":[26],"virtual":[27],"or":[28,59],"physical)":[29],"indicate":[31],"a":[32,83],"goal":[33],"attain":[35],"for":[36,75],"robot":[38],"swarm.":[39],"robot-oriented":[41,101],"makes":[43],"it":[44],"possible":[45],"select":[47],"individual":[48],"robots":[49],"reassign":[51],"them":[52],"other":[54],"tasks":[55],"increase":[57],"performance":[58],"remedy":[60],"failures.":[61],"Previous":[62],"research":[63],"has":[64],"concluded":[65],"interaction":[68,95],"might":[69],"prove":[70],"more":[71,97],"difficult":[72],"grasp":[74],"untrained":[76],"users.":[77],"In":[78],"this":[79],"paper,":[80],"we":[81],"report":[82],"study":[85],"which":[86],"indicates":[87],"that,":[88],"at":[89],"least":[90],"in":[91],"collective":[92],"transport,":[93],"is":[96],"effective":[98],"than":[99],"purely":[100],"interaction,":[102],"combined":[107],"achieve":[108],"remarkable":[109],"efficacy.":[110]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
