{"id":"https://openalex.org/W4285102248","doi":"https://doi.org/10.1109/icra46639.2022.9811852","title":"Driving Swarm: A Swarm Robotics Framework for Intelligent Navigation in a Self-organized World","display_name":"Driving Swarm: A Swarm Robotics Framework for Intelligent Navigation in a Self-organized World","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102248","doi":"https://doi.org/10.1109/icra46639.2022.9811852"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811852","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811852","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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 International Conference on Robotics and Automation (ICRA)","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/A5049866480","display_name":"Sebastian Mai","orcid":"https://orcid.org/0000-0002-2255-3277"},"institutions":[{"id":"https://openalex.org/I95793202","display_name":"Otto-von-Guericke University Magdeburg","ror":"https://ror.org/00ggpsq73","country_code":"DE","type":"education","lineage":["https://openalex.org/I95793202"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Sebastian Mai","raw_affiliation_strings":["Computational Intelligence Otto-von-Guericke University,Magdeburg,Germany","Computational Intelligence Otto-von-Guericke University, Magdeburg, Germany"],"affiliations":[{"raw_affiliation_string":"Computational Intelligence Otto-von-Guericke University,Magdeburg,Germany","institution_ids":["https://openalex.org/I95793202"]},{"raw_affiliation_string":"Computational Intelligence Otto-von-Guericke University, Magdeburg, Germany","institution_ids":["https://openalex.org/I95793202"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044339571","display_name":"Nele Traichel","orcid":null},"institutions":[{"id":"https://openalex.org/I95793202","display_name":"Otto-von-Guericke University Magdeburg","ror":"https://ror.org/00ggpsq73","country_code":"DE","type":"education","lineage":["https://openalex.org/I95793202"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nele Traichel","raw_affiliation_strings":["Otto-von-Guericke Universty,Magdeburg,Germany","Otto-von-Guericke Universty, Magdeburg, Germany"],"affiliations":[{"raw_affiliation_string":"Otto-von-Guericke Universty,Magdeburg,Germany","institution_ids":["https://openalex.org/I95793202"]},{"raw_affiliation_string":"Otto-von-Guericke Universty, Magdeburg, Germany","institution_ids":["https://openalex.org/I95793202"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064569017","display_name":"Sanaz Mostaghim","orcid":"https://orcid.org/0000-0002-9917-5227"},"institutions":[{"id":"https://openalex.org/I95793202","display_name":"Otto-von-Guericke University Magdeburg","ror":"https://ror.org/00ggpsq73","country_code":"DE","type":"education","lineage":["https://openalex.org/I95793202"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sanaz Mostaghim","raw_affiliation_strings":["Otto-von-Guericke Universty,Magdeburg,Germany","Otto-von-Guericke Universty, Magdeburg, Germany"],"affiliations":[{"raw_affiliation_string":"Otto-von-Guericke Universty,Magdeburg,Germany","institution_ids":["https://openalex.org/I95793202"]},{"raw_affiliation_string":"Otto-von-Guericke Universty, Magdeburg, Germany","institution_ids":["https://openalex.org/I95793202"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5049866480"],"corresponding_institution_ids":["https://openalex.org/I95793202"],"apc_list":null,"apc_paid":null,"fwci":1.5046,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.80965555,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"01","last_page":"07"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7110599279403687},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.708344578742981},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7065575122833252},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7012403607368469},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6776058673858643},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.658121645450592},{"id":"https://openalex.org/keywords/flocking","display_name":"Flocking (texture)","score":0.5747745037078857},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.553516149520874},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5531267523765564},{"id":"https://openalex.org/keywords/software-framework","display_name":"Software framework","score":0.5372018814086914},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5190830230712891},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5167364478111267},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5120449662208557},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4452270567417145},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4438527822494507},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4141286015510559},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.40339332818984985},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3967406153678894},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38108304142951965},{"id":"https://openalex.org/keywords/component-based-software-engineering","display_name":"Component-based software engineering","score":0.2368628978729248},{"id":"https://openalex.org/keywords/software-development","display_name":"Software development","score":0.1918272078037262},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.12757062911987305},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.09023377299308777}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7110599279403687},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.708344578742981},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7065575122833252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7012403607368469},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6776058673858643},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.658121645450592},{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.5747745037078857},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.553516149520874},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5531267523765564},{"id":"https://openalex.org/C76518257","wikidata":"https://www.wikidata.org/wiki/Q271680","display_name":"Software framework","level":5,"score":0.5372018814086914},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5190830230712891},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5167364478111267},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5120449662208557},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4452270567417145},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4438527822494507},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4141286015510559},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.40339332818984985},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3967406153678894},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38108304142951965},{"id":"https://openalex.org/C174683762","wikidata":"https://www.wikidata.org/wiki/Q609588","display_name":"Component-based software engineering","level":4,"score":0.2368628978729248},{"id":"https://openalex.org/C529173508","wikidata":"https://www.wikidata.org/wiki/Q638608","display_name":"Software development","level":3,"score":0.1918272078037262},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.12757062911987305},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.09023377299308777},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9811852","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811852","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W218515172","https://openalex.org/W1996542214","https://openalex.org/W2014824949","https://openalex.org/W2030775133","https://openalex.org/W2116409257","https://openalex.org/W2133846610","https://openalex.org/W2149469814","https://openalex.org/W2150312211","https://openalex.org/W2158925170","https://openalex.org/W2272326428","https://openalex.org/W2313274380","https://openalex.org/W2591508570","https://openalex.org/W2611484831","https://openalex.org/W2794237893","https://openalex.org/W2953781828","https://openalex.org/W2964622585","https://openalex.org/W2989300838","https://openalex.org/W3003535010","https://openalex.org/W3007469703","https://openalex.org/W3093793192","https://openalex.org/W3094406739","https://openalex.org/W3106722005","https://openalex.org/W3133007015","https://openalex.org/W3133018151","https://openalex.org/W4236071179","https://openalex.org/W6608744972","https://openalex.org/W6682180547"],"related_works":["https://openalex.org/W3080778595","https://openalex.org/W1991727603","https://openalex.org/W4387113913","https://openalex.org/W1504268856","https://openalex.org/W2391207934","https://openalex.org/W2913749762","https://openalex.org/W2140606111","https://openalex.org/W1596835606","https://openalex.org/W2991662304","https://openalex.org/W2794689129"],"abstract_inverted_index":{"Implementing":[0],"and":[1,18,46,60,70,75,92,104,136],"conducting":[2,164],"reproducible":[3],"experiments":[4,82,165],"on":[5,166],"multi-robot":[6,49],"hardware":[7,58,90],"platforms":[8],"are":[9],"challenging":[10],"tasks":[11],"due":[12],"to":[13,30,40,84,89,93,147],"variations":[14],"in":[15,124,131,140],"hardware,":[16],"software,":[17],"most":[19],"importantly":[20],"the":[21,32,42,56,86,102,114,121,132,144,153,156,158,161],"intensive":[22],"implementation":[23],"effort.":[24],"In":[25],"this":[26,53],"paper,":[27],"we":[28,110],"aim":[29],"present":[31],"Driving":[33],"Swarm":[34],"software":[35],"framework":[36,54],"which":[37],"is":[38,83,117,129],"developed":[39],"facilitate":[41],"implementation,":[43],"deployment,":[44],"supervision,":[45],"analysis":[47],"of":[48,80,155,163],"experiments.":[50,100,142],"We":[51],"use":[52],"with":[55,73],"TurtleBot3":[57],"platform":[59],"measure":[61],"its":[62],"performance":[63],"for":[64,98],"two":[65],"example":[66],"scenarios:":[67],"trajectory":[68],"tracking":[69,134],"flocking":[71],"behavior,":[72,109],"5":[74],"6":[76],"robots.":[77],"The":[78],"goal":[79],"our":[81],"validate":[85],"simulation":[87,145],"comparing":[88],"implementations":[91],"provide":[94],"a":[95,149,167],"baseline":[96],"data":[97],"further":[99],"While":[101,143],"simulated":[103,115],"real":[105,122],"robots":[106],"show":[107],"similar":[108],"could":[111],"observe":[112],"that":[113],"behavior":[116,123],"more":[118],"robust":[119],"than":[120],"both":[125,141],"scenarios.":[126],"This":[127],"effect":[128],"observed":[130],"lower":[133],"error":[135],"better":[137],"obstacle":[138],"avoidance":[139],"proved":[146],"be":[148],"valuable":[150],"tool":[151],"during":[152],"development":[154],"behaviors,":[157],"results":[159],"confirm":[160],"importance":[162],"real-world":[168],"test":[169],"bed.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}