{"id":"https://openalex.org/W4413925141","doi":"https://doi.org/10.1109/icra55743.2025.11128519","title":"HPRM: High-Performance Robotic Middleware for Intelligent Autonomous Systems","display_name":"HPRM: High-Performance Robotic Middleware for Intelligent Autonomous Systems","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925141","doi":"https://doi.org/10.1109/icra55743.2025.11128519"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128519","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128519","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5104212312","display_name":"Jacky Kwok","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jacky Kwok","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019366488","display_name":"Shulu Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shulu Li","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019424497","display_name":"Marten Lohstroh","orcid":"https://orcid.org/0000-0001-8833-4117"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marten Lohstroh","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5009831760","display_name":"Edward A. Lee","orcid":"https://orcid.org/0000-0002-5663-0584"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Edward A. Lee","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5104212312"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2656,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.83851872,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"8093","last_page":"8099"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9850000143051147,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9850000143051147,"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/T10715","display_name":"Distributed and Parallel Computing Systems","score":0.9751999974250793,"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/T10054","display_name":"Parallel Computing and Optimization Techniques","score":0.9455000162124634,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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":0.7523666620254517},{"id":"https://openalex.org/keywords/middleware","display_name":"Middleware (distributed applications)","score":0.7352018356323242},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3856044411659241},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3438560366630554},{"id":"https://openalex.org/keywords/computer-architecture","display_name":"Computer architecture","score":0.3287118673324585}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7523666620254517},{"id":"https://openalex.org/C169468491","wikidata":"https://www.wikidata.org/wiki/Q146923","display_name":"Middleware (distributed applications)","level":2,"score":0.7352018356323242},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3856044411659241},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3438560366630554},{"id":"https://openalex.org/C118524514","wikidata":"https://www.wikidata.org/wiki/Q173212","display_name":"Computer architecture","level":1,"score":0.3287118673324585}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128519","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128519","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1572549641","https://openalex.org/W2029791442","https://openalex.org/W2075529514","https://openalex.org/W2089867526","https://openalex.org/W2114168752","https://openalex.org/W2530771494","https://openalex.org/W2894174994","https://openalex.org/W2963390429","https://openalex.org/W2966798053","https://openalex.org/W3008843202","https://openalex.org/W3016486909","https://openalex.org/W3094453511","https://openalex.org/W3160830781","https://openalex.org/W3180768952","https://openalex.org/W3193987867","https://openalex.org/W3203342121","https://openalex.org/W4245772811","https://openalex.org/W4281821948","https://openalex.org/W4386254894","https://openalex.org/W4386579499","https://openalex.org/W4399344331"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W1680720215","https://openalex.org/W2031558046","https://openalex.org/W2092189923","https://openalex.org/W2169667823"],"abstract_inverted_index":{"The":[0,168],"rise":[1],"of":[2,26,73,93,136,172],"intelligent":[3,187],"autonomous":[4,10,158,188],"systems,":[5],"especially":[6],"in":[7],"robotics":[8,31],"and":[9,43,102,145,182,191],"agents,":[11],"has":[12],"created":[13],"a":[14,56],"critical":[15],"need":[16],"for":[17,89,186],"robust":[18],"communication":[19,45,185],"middleware":[20,32],"that":[21],"can":[22,193],"ensure":[23],"real-time":[24,107,184],"processing":[25],"extensive":[27],"sensor":[28],"data.":[29],"Current":[30],"like":[33],"Robot":[34],"Operating":[35],"System":[36],"(ROS)":[37],"2":[38],"faces":[39],"challenges":[40],"with":[41,49,106,141,151,175],"nondeterminism":[42],"high":[44],"latency":[46,121,165],"when":[47,124],"dealing":[48],"large":[50,94,126],"data":[51],"across":[52],"multiple":[53,129],"subscribers":[54],"on":[55,71,196],"multi-core":[57],"compute":[58],"platform.":[59],"To":[60],"address":[61],"these":[62],"issues,":[63],"we":[64],"present":[65],"High-Performance":[66],"Robotic":[67],"Middleware":[68],"(HPRM),":[69],"built":[70],"top":[72],"the":[74,134,142,156],"deterministic":[75,169],"coordination":[76,170],"language":[77],"Lingua":[78],"Franca":[79],"(LF).":[80],"HPRM":[81,115,137,161],"employs":[82],"optimizations":[83],"including":[84],"an":[85,103],"in-memory":[86],"object":[87,152],"store":[88],"efficient":[90,181],"zero-copy":[91],"transfer":[92],"payloads,":[95],"adaptive":[96],"serialization":[97,100],"to":[98,109,118,128],"minimize":[99],"overhead,":[101],"eager":[104],"protocol":[105],"sockets":[108],"reduce":[110],"handshake":[111],"latency.":[112],"Benchmarks":[113],"show":[114],"achieves":[116],"up":[117],"114x":[119],"lower":[120,164],"than":[122,166],"ROS2":[123],"broadcasting":[125],"messages":[127],"nodes.":[130],"We":[131],"then":[132],"demonstrate":[133],"benefits":[135],"by":[138],"integrating":[139],"it":[140],"CARLA":[143,157],"simulator":[144],"running":[146],"reinforcement":[147],"learning":[148],"agents":[149],"along":[150],"detection":[153],"workloads.":[154],"In":[155],"driving":[159],"application,":[160],"attains":[162],"91.1%":[163],"ROS2.":[167],"semantics":[171],"HPRM,":[173],"combined":[174],"its":[176],"optimized":[177],"IPC":[178],"mechanisms,":[179],"enable":[180],"predictable":[183],"systems.":[189],"Code":[190],"videos":[192],"be":[194],"found":[195],"our":[197],"project":[198],"page:":[199],"https://hprm-robotics.github.io/HPRM":[200]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}