{"id":"https://openalex.org/W4415968587","doi":"https://doi.org/10.1109/iecon58223.2025.11221930","title":"Uncertainty-Aware GNN for Collaborative Robot Mapping Towards 6G-Enabled Smart Warehouses","display_name":"Uncertainty-Aware GNN for Collaborative Robot Mapping Towards 6G-Enabled Smart Warehouses","publication_year":2025,"publication_date":"2025-10-14","ids":{"openalex":"https://openalex.org/W4415968587","doi":"https://doi.org/10.1109/iecon58223.2025.11221930"},"language":"en","primary_location":{"id":"doi:10.1109/iecon58223.2025.11221930","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon58223.2025.11221930","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2025 \u2013 51st Annual Conference of the IEEE Industrial Electronics Society","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/A5087400670","display_name":"Irfan Fachrudin Priyanta","orcid":"https://orcid.org/0009-0008-6594-9790"},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Irfan Fachrudin Priyanta","raw_affiliation_strings":["TU Dortmund University,Chair of Material Handling and Warehousing,Dortmund,Germany,44227"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Dortmund University,Chair of Material Handling and Warehousing,Dortmund,Germany,44227","institution_ids":["https://openalex.org/I200332995"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094208494","display_name":"Julia Freytag","orcid":null},"institutions":[{"id":"https://openalex.org/I4210098062","display_name":"Fraunhofer Institute for Material Flow and Logistics","ror":"https://ror.org/00z7dje19","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210098062","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Julia Freytag","raw_affiliation_strings":["Fraunhofer Institute for Material Flow and Logistics,Dortmund,Germany,44227"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Material Flow and Logistics,Dortmund,Germany,44227","institution_ids":["https://openalex.org/I4210098062"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108873604","display_name":"Tobias K\u00f6rner","orcid":null},"institutions":[{"id":"https://openalex.org/I904495901","display_name":"Ruhr University Bochum","ror":"https://ror.org/04tsk2644","country_code":"DE","type":"education","lineage":["https://openalex.org/I904495901"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tobias K\u00f6rner","raw_affiliation_strings":["Ruhr University Bochum,Institute of Microwave Systems,Bochum,Germany,44801"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ruhr University Bochum,Institute of Microwave Systems,Bochum,Germany,44801","institution_ids":["https://openalex.org/I904495901"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101452524","display_name":"Muzafar Khan","orcid":"https://orcid.org/0000-0001-6846-3739"},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Asfandyar Khan","raw_affiliation_strings":["TU Dortmund University,Chair of Material Handling and Warehousing,Dortmund,Germany,44227"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Dortmund University,Chair of Material Handling and Warehousing,Dortmund,Germany,44227","institution_ids":["https://openalex.org/I200332995"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046934154","display_name":"J\u00e9r\u00f4me Rutinowski","orcid":"https://orcid.org/0000-0001-6907-9296"},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J\u00e9r\u00f4me Rutinowski","raw_affiliation_strings":["TU Dortmund University,Chair of Material Handling and Warehousing,Dortmund,Germany,44227"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Dortmund University,Chair of Material Handling and Warehousing,Dortmund,Germany,44227","institution_ids":["https://openalex.org/I200332995"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071909921","display_name":"Moritz Roidl","orcid":"https://orcid.org/0000-0001-7551-9163"},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Moritz Roidl","raw_affiliation_strings":["TU Dortmund University,Chair of Material Handling and Warehousing,Dortmund,Germany,44227"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Dortmund University,Chair of Material Handling and Warehousing,Dortmund,Germany,44227","institution_ids":["https://openalex.org/I200332995"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046336938","display_name":"Ilona Rolfes","orcid":"https://orcid.org/0000-0001-8195-4786"},"institutions":[{"id":"https://openalex.org/I904495901","display_name":"Ruhr University Bochum","ror":"https://ror.org/04tsk2644","country_code":"DE","type":"education","lineage":["https://openalex.org/I904495901"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ilona Rolfes","raw_affiliation_strings":["Ruhr University Bochum,Institute of Microwave Systems,Bochum,Germany,44801"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ruhr University Bochum,Institute of Microwave Systems,Bochum,Germany,44801","institution_ids":["https://openalex.org/I904495901"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086519390","display_name":"Alice Kirchheim","orcid":"https://orcid.org/0000-0002-8529-425X"},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alice Kirchheim","raw_affiliation_strings":["TU Dortmund University,Chair of Material Handling and Warehousing,Dortmund,Germany,44227"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Dortmund University,Chair of Material Handling and Warehousing,Dortmund,Germany,44227","institution_ids":["https://openalex.org/I200332995"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35447768,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.5482000112533569,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.5482000112533569,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10036","display_name":"Advanced Neural Network Applications","score":0.07989999651908875,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.059700001031160355,"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/robot","display_name":"Robot","score":0.5644999742507935},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5073000192642212},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4575999975204468},{"id":"https://openalex.org/keywords/situation-awareness","display_name":"Situation awareness","score":0.4562999904155731},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4465999901294708},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43529999256134033},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4293999969959259},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4000999927520752},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.3978999853134155},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.3700000047683716}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6424999833106995},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5644999742507935},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5073000192642212},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4927999973297119},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47679999470710754},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4575999975204468},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.4562999904155731},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4465999901294708},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43529999256134033},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4293999969959259},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4000999927520752},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.3978999853134155},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.3700000047683716},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3671000003814697},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.3573000133037567},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.3456000089645386},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.3075999915599823},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3050999939441681},{"id":"https://openalex.org/C2778075934","wikidata":"https://www.wikidata.org/wiki/Q17141406","display_name":"Positioning technology","level":2,"score":0.29809999465942383},{"id":"https://openalex.org/C102392041","wikidata":"https://www.wikidata.org/wiki/Q592860","display_name":"Sliding window protocol","level":3,"score":0.296099990606308},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.29499998688697815},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2939000129699707},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.2930999994277954},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.2930000126361847},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.29190000891685486},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.287200003862381},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.28630000352859497},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.28040000796318054},{"id":"https://openalex.org/C2779965156","wikidata":"https://www.wikidata.org/wiki/Q5227350","display_name":"Data sharing","level":3,"score":0.2791000008583069},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.2775000035762787},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.2743000090122223},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2621999979019165},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2605000138282776}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iecon58223.2025.11221930","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon58223.2025.11221930","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2025 \u2013 51st Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},{"id":"pmh:oai:publica.fraunhofer.de:publica/502779","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/502779","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2465324213","https://openalex.org/W2981096252","https://openalex.org/W3008115128","https://openalex.org/W3024440920","https://openalex.org/W3090386798","https://openalex.org/W3109907338","https://openalex.org/W4200504901","https://openalex.org/W4210674219","https://openalex.org/W4385325018","https://openalex.org/W4394564241","https://openalex.org/W4396754474","https://openalex.org/W4404740559","https://openalex.org/W4405974195","https://openalex.org/W4406861538","https://openalex.org/W4407461661","https://openalex.org/W4408000594","https://openalex.org/W4410027533","https://openalex.org/W4414955774"],"related_works":[],"abstract_inverted_index":{"Smart":[0],"warehouses":[1],"face":[2],"rapid":[3],"layout":[4],"reconfigurations":[5],"and":[6,28,40,61,82,96,104,145,173],"frequent":[7,41],"process":[8],"adaptations,":[9],"especially":[10],"when":[11],"using":[12,148],"a":[13,31,70,91,136,160,175],"Cyber-Physical":[14],"Production":[15],"Systems":[16],"(CPPS)":[17],"setup.":[18],"These":[19],"dynamic":[20],"conditions":[21],"introduce":[22],"environmental":[23],"uncertainty,":[24],"making":[25],"real-time":[26,110],"navigation":[27],"obstacle":[29],"avoidance":[30],"significant":[32],"challenge":[33],"for":[34,75,79,94],"robot":[35,46,86],"fleets.":[36],"Limited":[37],"sensing":[38,95],"range":[39],"occlusions":[42],"further":[43],"hinder":[44],"local":[45],"perception.":[47],"Classic":[48],"methods":[49],"rely":[50],"on":[51],"centralized":[52],"planning":[53],"or":[54],"vision-based":[55],"systems,":[56],"which":[57],"struggle":[58],"in":[59],"low-visibility":[60],"cluttered":[62],"environments.":[63],"To":[64],"address":[65],"these":[66],"gaps,":[67],"we":[68,121],"propose":[69],"graph-based":[71],"collaborative":[72],"perception":[73],"network":[74],"the":[76,114],"RoboFUSE":[77,89],"(Framework":[78],"Unified":[80],"Sensing":[81,103],"Exploration)":[83],"system.":[84],"Each":[85],"operates":[87],"onboard":[88],"with":[90,159],"dual-purpose":[92],"waveform":[93],"communication":[97],"(S&C)":[98],"that":[99,130],"emulates":[100],"6G":[101],"Integrated":[102],"Communication":[105],"(ISAC).":[106],"This":[107],"setup":[108],"supports":[109],"data":[111,134],"sharing":[112],"across":[113],"fleet.":[115],"On":[116],"top":[117],"of":[118,157],"this":[119],"platform,":[120],"develop":[122],"RoboFUSE-Graph":[123],"Neural":[124],"Network":[125],"(GNN),":[126],"an":[127,154],"uncertainty-aware":[128],"GNN":[129],"fuses":[131],"multi-robot":[132],"radar":[133],"into":[135],"global":[137],"spatial-semantic":[138],"map.":[139],"The":[140,163],"model":[141],"captures":[142],"spatial":[143],"relations":[144],"temporal":[146],"dependencies":[147],"sliding":[149],"window":[150],"graphs.":[151],"Experiments":[152],"reveal":[153],"F1":[155],"score":[156],"0.91":[158],"five-sliding":[161],"window.":[162],"proposed":[164],"approach":[165],"enhances":[166],"situational":[167],"awareness,":[168],"enables":[169],"safe,":[170],"scalable":[171],"navigation,":[172],"represents":[174],"stride":[176],"towards":[177],"6G-enabled":[178],"smart":[179],"warehouses.":[180]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-06T00:00:00"}