{"id":"https://openalex.org/W4401414702","doi":"https://doi.org/10.1109/icra57147.2024.10611333","title":"Intelligent Mode-switching Framework for Teleoperation","display_name":"Intelligent Mode-switching Framework for Teleoperation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414702","doi":"https://doi.org/10.1109/icra57147.2024.10611333"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611333","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611333","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://eprints.gla.ac.uk/319021/2/319021.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027783692","display_name":"Burak Kizilkaya","orcid":"https://orcid.org/0000-0002-7429-7527"},"institutions":[{"id":"https://openalex.org/I7882870","display_name":"University of Glasgow","ror":"https://ror.org/00vtgdb53","country_code":"GB","type":"education","lineage":["https://openalex.org/I7882870"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Burak Kizilkaya","raw_affiliation_strings":["University of Glasgow,School of Engineering,Glasgow,U.K.,G12 8QQ"],"affiliations":[{"raw_affiliation_string":"University of Glasgow,School of Engineering,Glasgow,U.K.,G12 8QQ","institution_ids":["https://openalex.org/I7882870"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079772530","display_name":"Changyang She","orcid":"https://orcid.org/0000-0003-0193-9784"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Changyang She","raw_affiliation_strings":["The University of Sydney,School of Electrical and Information Engineering,Sydney,NSW,Australia,2006"],"affiliations":[{"raw_affiliation_string":"The University of Sydney,School of Electrical and Information Engineering,Sydney,NSW,Australia,2006","institution_ids":["https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043965502","display_name":"Guodong Zhao","orcid":"https://orcid.org/0000-0002-9920-8244"},"institutions":[{"id":"https://openalex.org/I7882870","display_name":"University of Glasgow","ror":"https://ror.org/00vtgdb53","country_code":"GB","type":"education","lineage":["https://openalex.org/I7882870"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Guodong Zhao","raw_affiliation_strings":["University of Glasgow,School of Engineering,Glasgow,U.K.,G12 8QQ"],"affiliations":[{"raw_affiliation_string":"University of Glasgow,School of Engineering,Glasgow,U.K.,G12 8QQ","institution_ids":["https://openalex.org/I7882870"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100331811","display_name":"Muhammad Ali Imran","orcid":"https://orcid.org/0000-0003-4743-9136"},"institutions":[{"id":"https://openalex.org/I7882870","display_name":"University of Glasgow","ror":"https://ror.org/00vtgdb53","country_code":"GB","type":"education","lineage":["https://openalex.org/I7882870"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Muhammad Ali Imran","raw_affiliation_strings":["University of Glasgow,School of Engineering,Glasgow,U.K.,G12 8QQ"],"affiliations":[{"raw_affiliation_string":"University of Glasgow,School of Engineering,Glasgow,U.K.,G12 8QQ","institution_ids":["https://openalex.org/I7882870"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5027783692"],"corresponding_institution_ids":["https://openalex.org/I7882870"],"apc_list":null,"apc_paid":null,"fwci":0.702,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.67483556,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"15692","last_page":"15698"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12205","display_name":"Time Series Analysis and Forecasting","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T12205","display_name":"Time Series Analysis and Forecasting","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9869999885559082,"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/teleoperation","display_name":"Teleoperation","score":0.8109796643257141},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6107391715049744},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5496021509170532},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38820233941078186},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33871084451675415},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18295782804489136}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8109796643257141},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6107391715049744},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5496021509170532},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38820233941078186},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33871084451675415},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18295782804489136}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra57147.2024.10611333","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611333","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.gla.ac.uk:319021","is_oa":true,"landing_page_url":"https://eprints.gla.ac.uk/view/author/55803.html>","pdf_url":"https://eprints.gla.ac.uk/319021/2/319021.pdf","source":{"id":"https://openalex.org/S4210235606","display_name":"ENLIGHTEN (Jurnal Bimbingan dan Konseling Islam)","issn_l":"2622-8912","issn":["2622-8912","2622-8920"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":{"id":"pmh:oai:eprints.gla.ac.uk:319021","is_oa":true,"landing_page_url":"https://eprints.gla.ac.uk/view/author/55803.html>","pdf_url":"https://eprints.gla.ac.uk/319021/2/319021.pdf","source":{"id":"https://openalex.org/S4210235606","display_name":"ENLIGHTEN (Jurnal Bimbingan dan Konseling Islam)","issn_l":"2622-8912","issn":["2622-8912","2622-8920"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401414702.pdf","grobid_xml":"https://content.openalex.org/works/W4401414702.grobid-xml"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W2036533317","https://openalex.org/W2091006645","https://openalex.org/W2262889796","https://openalex.org/W2598525681","https://openalex.org/W2750092202","https://openalex.org/W2754051771","https://openalex.org/W2759636792","https://openalex.org/W2892035503","https://openalex.org/W2964049638","https://openalex.org/W3011722025","https://openalex.org/W3091189992","https://openalex.org/W3135412377","https://openalex.org/W3195831884","https://openalex.org/W3206177224","https://openalex.org/W3211531111","https://openalex.org/W4210931094","https://openalex.org/W4232476872","https://openalex.org/W4285102278","https://openalex.org/W4298857966"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2364738582","https://openalex.org/W2160932924","https://openalex.org/W2145520648"],"abstract_inverted_index":{"Teleoperation":[0],"can":[1,188],"be":[2,63,74],"very":[3],"difficult":[4],"due":[5],"to":[6,26,42,62,73,154,172,191],"limited":[7,13],"perception,":[8],"high":[9],"communication":[10,89,99,124,193],"latency,":[11],"and":[12,34,49,79,101,123,148,159,178],"degrees":[14],"of":[15,38],"freedom":[16],"(DoFs)":[17],"at":[18,131,150],"the":[19,39,44,47,51,66,77,85,88,95,105,132,151,185],"operator":[20,48,78,133,152],"side.":[21,134],"Autonomous":[22],"teleoperation":[23,160,170],"is":[24,59,91,129,146,166],"proposed":[25,186],"overcome":[27],"this":[28,111],"difficulty":[29],"by":[30,65,76,119],"predicting":[31],"user":[32,137,175],"intentions":[33],"performing":[35],"some":[36],"parts":[37],"task":[40,52,198],"autonomously":[41],"decrease":[43],"demand":[45],"on":[46,136],"increase":[50],"completion":[53,199],"rate.":[54],"However,":[55],"decision-making":[56],"for":[57,108],"mode-switching":[58,117,122],"generally":[60],"assumed":[61],"done":[64,130],"operator,":[67],"which":[68],"brings":[69],"an":[70,115],"extra":[71,81],"DoF":[72],"controlled":[75],"introduces":[80],"mental":[82],"demand.":[83],"On":[84],"other":[86],"hand,":[87],"perspective":[90],"not":[92],"investigated":[93],"in":[94],"current":[96],"literature,":[97],"although":[98],"imperfections":[100],"resource":[102],"limitations":[103],"are":[104],"main":[106],"bottlenecks":[107],"teleoperation.":[109],"In":[110],"study,":[112],"we":[113],"propose":[114],"intelligent":[116],"framework":[118,187],"jointly":[120],"considering":[121],"systems.":[125],"User":[126],"intention":[127,138,176],"recognition":[128,177],"Based":[135],"recognition,":[139],"a":[140],"deep":[141],"reinforcement":[142],"learning":[143],"(DRL)":[144],"agent":[145],"trained":[147],"deployed":[149],"side":[153],"seamlessly":[155],"switch":[156],"between":[157],"autonomous":[158],"modes.":[161],"A":[162],"real-world":[163],"data":[164],"set":[165],"collected":[167],"from":[168],"our":[169],"testbed":[171],"train":[173],"both":[174],"DRL":[179],"algorithms.":[180],"Our":[181],"results":[182],"show":[183],"that":[184],"achieve":[189],"up":[190],"50%":[192],"load":[194],"reduction":[195],"with":[196],"improved":[197],"probability.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}