{"id":"https://openalex.org/W4383109030","doi":"https://doi.org/10.1109/icra48891.2023.10161434","title":"Chronos and CRS: Design of a miniature car-like robot and a software framework for single and multi-agent robotics and control","display_name":"Chronos and CRS: Design of a miniature car-like robot and a software framework for single and multi-agent robotics and control","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109030","doi":"https://doi.org/10.1109/icra48891.2023.10161434"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161434","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":"conference-paper","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/A5038512513","display_name":"Andrea Carron","orcid":"https://orcid.org/0000-0002-3219-4132"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Andrea Carron","raw_affiliation_strings":["Institute of Dynamic Systems and Control, ETH Zurich,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Dynamic Systems and Control, ETH Zurich,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049906515","display_name":"Sabrina Bodmer","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Sabrina Bodmer","raw_affiliation_strings":["Institute of Dynamic Systems and Control, ETH Zurich,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Dynamic Systems and Control, ETH Zurich,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061831421","display_name":"Lukas Vogel","orcid":"https://orcid.org/0000-0002-8106-2750"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Lukas Vogel","raw_affiliation_strings":["Institute of Dynamic Systems and Control, ETH Zurich,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Dynamic Systems and Control, ETH Zurich,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064764487","display_name":"Ren\u00e9 Zurbr\u00fcgg","orcid":"https://orcid.org/0000-0003-2773-9369"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Ren\u00e9 Zurbr\u00fcgg","raw_affiliation_strings":["Institute of Dynamic Systems and Control, ETH Zurich,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Dynamic Systems and Control, ETH Zurich,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104066200","display_name":"David Helm","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"David Helm","raw_affiliation_strings":["Institute of Dynamic Systems and Control, ETH Zurich,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Dynamic Systems and Control, ETH Zurich,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063728015","display_name":"Rahel Rickenbach","orcid":"https://orcid.org/0009-0008-5485-549X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Rahel Rickenbach","raw_affiliation_strings":["Institute of Dynamic Systems and Control, ETH Zurich,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Dynamic Systems and Control, ETH Zurich,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017056549","display_name":"Simon Muntwiler","orcid":"https://orcid.org/0000-0003-4720-3772"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Simon Muntwiler","raw_affiliation_strings":["Institute of Dynamic Systems and Control, ETH Zurich,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Dynamic Systems and Control, ETH Zurich,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021784629","display_name":"J\u00e9r\u00f4me Sieber","orcid":"https://orcid.org/0000-0002-8937-7749"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jerome Sieber","raw_affiliation_strings":["Institute of Dynamic Systems and Control, ETH Zurich,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Dynamic Systems and Control, ETH Zurich,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037513714","display_name":"Melanie N. Zeilinger","orcid":"https://orcid.org/0000-0003-4570-7571"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Melanie N. Zeilinger","raw_affiliation_strings":["Institute of Dynamic Systems and Control, ETH Zurich,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Dynamic Systems and Control, ETH Zurich,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":1.9421,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.909967,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1371","last_page":"1378"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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":0.9988999962806702,"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":0.9959999918937683,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9955999851226807,"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/robotics","display_name":"Robotics","score":0.8008135557174683},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7530162334442139},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.6109209656715393},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5709694623947144},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.5652860999107361},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5311673283576965},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.5142516493797302},{"id":"https://openalex.org/keywords/robotic-paradigms","display_name":"Robotic paradigms","score":0.4725498855113983},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.37632134556770325},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3714650273323059},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3440180718898773},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3165551424026489},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.3047342896461487},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.0992661714553833}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.8008135557174683},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7530162334442139},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.6109209656715393},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5709694623947144},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.5652860999107361},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5311673283576965},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.5142516493797302},{"id":"https://openalex.org/C60940618","wikidata":"https://www.wikidata.org/wiki/Q7353423","display_name":"Robotic paradigms","level":4,"score":0.4725498855113983},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.37632134556770325},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3714650273323059},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3440180718898773},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3165551424026489},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.3047342896461487},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0992661714553833},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161434","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/9","display_name":"Industry, innovation and infrastructure","score":0.5299999713897705}],"awards":[],"funders":[{"id":"https://openalex.org/F4320325076","display_name":"Stifterverband","ror":"https://ror.org/01yzfjx97"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1518154293","https://openalex.org/W1544016679","https://openalex.org/W1563547082","https://openalex.org/W1578293866","https://openalex.org/W1592228927","https://openalex.org/W1637762974","https://openalex.org/W1969282030","https://openalex.org/W1974795838","https://openalex.org/W1981698940","https://openalex.org/W2021862159","https://openalex.org/W2023136445","https://openalex.org/W2042243351","https://openalex.org/W2055280230","https://openalex.org/W2065500547","https://openalex.org/W2081820838","https://openalex.org/W2096252761","https://openalex.org/W2114289231","https://openalex.org/W2147777915","https://openalex.org/W2240585996","https://openalex.org/W2303301793","https://openalex.org/W2737347195","https://openalex.org/W2783824884","https://openalex.org/W2901136733","https://openalex.org/W2962871846","https://openalex.org/W2964138223","https://openalex.org/W2981761302","https://openalex.org/W3047366950","https://openalex.org/W3099530328","https://openalex.org/W3115474368","https://openalex.org/W3194630475","https://openalex.org/W3202635380","https://openalex.org/W3204806311","https://openalex.org/W4225642194","https://openalex.org/W4286375465","https://openalex.org/W6632920698","https://openalex.org/W6670873631","https://openalex.org/W6689856497","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2049851500","https://openalex.org/W4231821192","https://openalex.org/W92837840","https://openalex.org/W2131444840","https://openalex.org/W2789839425","https://openalex.org/W2019273059","https://openalex.org/W4246818843","https://openalex.org/W3033092441","https://openalex.org/W2548796344","https://openalex.org/W4313427962"],"abstract_inverted_index":{"From":[0],"both":[1],"an":[2,128],"educational":[3,173],"and":[4,18,27,42,56,66,68,94,105,126,134,150,164,174],"research":[5,175],"point":[6],"of":[7,16,40,48,103,143],"view,":[8],"experiments":[9,71],"on":[10],"hardware":[11,26,163],"are":[12,63,78,86,91],"a":[13,53,73,116],"key":[14],"aspect":[15],"robotics":[17,50],"control.":[19],"In":[20,107],"the":[21,38,46,141,166],"last":[22],"decade,":[23],"many":[24],"open-source":[25,124,129],"software":[28,130,138],"frameworks":[29],"for":[30,81,132,147],"wheeled":[31],"robots":[32,85],"have":[33],"been":[34],"presented,":[35],"mainly":[36],"in":[37,72,101],"form":[39],"unicycles":[41],"car-like":[43,118],"robots,":[44],"with":[45,122],"goal":[47],"making":[49],"accessible":[51],"to":[52,57,109,158,162,170],"wider":[54],"audience":[55],"support":[58],"control":[59,133],"systems":[60],"development.":[61],"Unicycles":[62],"usually":[64,92],"small":[65],"inexpensive,":[67],"therefore":[69],"facilitate":[70],"larger":[74,93],"fleet,":[75],"but":[76,89],"they":[77,90],"not":[79],"suited":[80],"high-speed":[82],"motion.":[83],"Car-like":[84],"more":[87,95,99],"agile,":[88],"expensive,":[96],"thus":[97],"requiring":[98],"resources":[100],"terms":[102],"space":[104],"money.":[106],"order":[108],"bridge":[110],"this":[111,154],"gap,":[112],"we":[113,156],"present":[114],"Chronos,":[115],"new":[117,172],"1/28th":[119],"scale":[120],"robot":[121],"customized":[123],"electronics,":[125],"CRS,":[127],"framework":[131,139],"robotics.":[135],"The":[136],"CRS":[137],"includes":[140],"implementation":[142],"various":[144],"state-of-the-art":[145],"algorithms":[146],"control,":[148],"estimation,":[149],"multi-agent":[151],"coordination.":[152],"With":[153],"work,":[155],"aim":[157],"provide":[159],"easier":[160],"access":[161],"reduce":[165],"engineering":[167],"time":[168],"needed":[169],"start":[171],"projects.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}