{"id":"https://openalex.org/W4383109522","doi":"https://doi.org/10.1109/icra48891.2023.10161110","title":"An Open Approach to Energy-Efficient Autonomous Mobile Robots","display_name":"An Open Approach to Energy-Efficient Autonomous Mobile Robots","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109522","doi":"https://doi.org/10.1109/icra48891.2023.10161110"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161110","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161110","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 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/A5039156669","display_name":"Liangkai Liu","orcid":"https://orcid.org/0000-0002-6149-9859"},"institutions":[{"id":"https://openalex.org/I185443292","display_name":"Wayne State University","ror":"https://ror.org/01070mq45","country_code":"US","type":"education","lineage":["https://openalex.org/I185443292"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Liangkai Liu","raw_affiliation_strings":["Wayne State University,Department of Computer Science","Department of Computer Science, Wayne State University"],"affiliations":[{"raw_affiliation_string":"Wayne State University,Department of Computer Science","institution_ids":["https://openalex.org/I185443292"]},{"raw_affiliation_string":"Department of Computer Science, Wayne State University","institution_ids":["https://openalex.org/I185443292"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015565553","display_name":"Zhong Ren","orcid":"https://orcid.org/0000-0003-3879-9930"},"institutions":[{"id":"https://openalex.org/I185443292","display_name":"Wayne State University","ror":"https://ror.org/01070mq45","country_code":"US","type":"education","lineage":["https://openalex.org/I185443292"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ren Zhong","raw_affiliation_strings":["Wayne State University,Department of Computer Science","Department of Computer Science, Wayne State University"],"affiliations":[{"raw_affiliation_string":"Wayne State University,Department of Computer Science","institution_ids":["https://openalex.org/I185443292"]},{"raw_affiliation_string":"Department of Computer Science, Wayne State University","institution_ids":["https://openalex.org/I185443292"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063425753","display_name":"Aaron Willcock","orcid":"https://orcid.org/0000-0002-0516-3883"},"institutions":[{"id":"https://openalex.org/I185443292","display_name":"Wayne State University","ror":"https://ror.org/01070mq45","country_code":"US","type":"education","lineage":["https://openalex.org/I185443292"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron Willcock","raw_affiliation_strings":["Wayne State University,Department of Computer Science","Department of Computer Science, Wayne State University"],"affiliations":[{"raw_affiliation_string":"Wayne State University,Department of Computer Science","institution_ids":["https://openalex.org/I185443292"]},{"raw_affiliation_string":"Department of Computer Science, Wayne State University","institution_ids":["https://openalex.org/I185443292"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063909745","display_name":"Nathan Fisher","orcid":"https://orcid.org/0000-0002-9733-3842"},"institutions":[{"id":"https://openalex.org/I185443292","display_name":"Wayne State University","ror":"https://ror.org/01070mq45","country_code":"US","type":"education","lineage":["https://openalex.org/I185443292"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathan Fisher","raw_affiliation_strings":["Wayne State University,Department of Computer Science","Department of Computer Science, Wayne State University"],"affiliations":[{"raw_affiliation_string":"Wayne State University,Department of Computer Science","institution_ids":["https://openalex.org/I185443292"]},{"raw_affiliation_string":"Department of Computer Science, Wayne State University","institution_ids":["https://openalex.org/I185443292"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100651611","display_name":"Weisong Shi","orcid":"https://orcid.org/0000-0001-5864-4675"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Weisong Shi","raw_affiliation_strings":["University of Delaware,Department of Computer and Information Sciences","Department of Computer and Information Sciences, University of Delaware"],"affiliations":[{"raw_affiliation_string":"University of Delaware,Department of Computer and Information Sciences","institution_ids":["https://openalex.org/I86501945"]},{"raw_affiliation_string":"Department of Computer and Information Sciences, University of Delaware","institution_ids":["https://openalex.org/I86501945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5039156669"],"corresponding_institution_ids":["https://openalex.org/I185443292"],"apc_list":null,"apc_paid":null,"fwci":0.9692,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.77385062,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"11569","last_page":"11575"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.989799976348877,"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/computer-science","display_name":"Computer science","score":0.777712345123291},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.7433056235313416},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5451275110244751},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5188890099525452},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4969227612018585},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.49646931886672974},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.46903786063194275},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.43932002782821655},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4271915853023529},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.35151562094688416},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3422221541404724},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3376668691635132},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32227328419685364},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16209357976913452}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.777712345123291},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.7433056235313416},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5451275110244751},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5188890099525452},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4969227612018585},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.49646931886672974},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.46903786063194275},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.43932002782821655},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4271915853023529},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.35151562094688416},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3422221541404724},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3376668691635132},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32227328419685364},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16209357976913452},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161110","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161110","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W139181863","https://openalex.org/W1494920118","https://openalex.org/W1572017660","https://openalex.org/W1792558277","https://openalex.org/W1978755966","https://openalex.org/W2005515758","https://openalex.org/W2046101668","https://openalex.org/W2048449340","https://openalex.org/W2108434160","https://openalex.org/W2109262344","https://openalex.org/W2119515479","https://openalex.org/W2139137304","https://openalex.org/W2144444322","https://openalex.org/W2339120203","https://openalex.org/W2406067508","https://openalex.org/W2515105874","https://openalex.org/W2532160943","https://openalex.org/W2532201769","https://openalex.org/W2554302513","https://openalex.org/W2578254634","https://openalex.org/W2773820396","https://openalex.org/W2774948997","https://openalex.org/W2791654586","https://openalex.org/W2803785720","https://openalex.org/W2906912292","https://openalex.org/W2940930930","https://openalex.org/W2963461902","https://openalex.org/W2982656930","https://openalex.org/W2982785545","https://openalex.org/W2999066514","https://openalex.org/W6676005675","https://openalex.org/W6766337617"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W2906946336","https://openalex.org/W1971413691","https://openalex.org/W2357323510"],"abstract_inverted_index":{"Autonomous":[0],"mobile":[1],"robots":[2],"(AMRs)":[3],"have":[4,69,133],"the":[5,21,41,45,105,115,123,142,190],"capability":[6,143],"to":[7,36,43,113,170,181,189],"execute":[8],"a":[9,56,71,80,91,135,182],"wide":[10],"range":[11],"of":[12,20,24,73,83,104,125,157],"tasks":[13],"with":[14],"minimal":[15],"human":[16],"intervention.":[17],"However,":[18],"one":[19],"major":[22,81],"limitations":[23],"AMRs":[25,53],"is":[26],"their":[27,37,60],"limited":[28],"battery":[29],"life,":[30],"which":[31,140],"often":[32],"results":[33],"in":[34,52,59,160,179,185],"interruptions":[35],"task":[38],"execution":[39],"and":[40,77,129,173],"need":[42],"reach":[44],"nearest":[46],"charging":[47],"station.":[48],"Optimizing":[49],"energy":[50,84,93,99,127,151,167,186],"consumption":[51,100,187],"has":[54,141],"become":[55],"critical":[57],"challenge":[58],"deployment.":[61],"Through":[62],"empirical":[63],"studies":[64],"on":[65],"real":[66],"AMRs,":[67],"we":[68,89,108,132,164],"identified":[70],"lack":[72],"coordination":[74],"between":[75],"computation":[76],"control":[78],"as":[79],"source":[82],"inefficiency.":[85],"In":[86],"this":[87],"paper,":[88],"propose":[90,109],"comprehensive":[92],"prediction":[94,128,152,168],"model":[95,153,169],"that":[96],"provides":[97],"real-time":[98],"for":[101,119,144],"each":[102],"component":[103],"AMR.":[106],"Additionally,":[107],"three":[110],"path":[111,130,176],"models":[112],"address":[114],"obstacle":[116,171],"avoidance":[117,172],"problem":[118],"AMRs.":[120],"To":[121],"evaluate":[122],"performance":[124],"our":[126,161,166],"models,":[131],"developed":[134],"customized":[136],"AMR":[137],"called":[138],"Donkey,":[139],"fine-grained":[145],"(millisecond-level)":[146],"end-to-end":[147],"power":[148],"profiling.":[149],"Our":[150],"demonstrated":[154],"an":[155],"accuracy":[156],"over":[158],"90%":[159],"evaluations.":[162],"Finally,":[163],"applied":[165],"guided":[174],"energy-efficient":[175],"selection,":[177],"resulting":[178],"up":[180],"44.8%":[183],"reduction":[184],"compared":[188],"baseline.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4}],"updated_date":"2026-03-24T08:02:53.985720","created_date":"2025-10-10T00:00:00"}
