{"id":"https://openalex.org/W2107542601","doi":"https://doi.org/10.1109/iros.2008.4651001","title":"A generic architecture of modular embedded system for miniature mobile robots","display_name":"A generic architecture of modular embedded system for miniature mobile robots","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2107542601","doi":"https://doi.org/10.1109/iros.2008.4651001","mag":"2107542601"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4651001","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4651001","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5088783147","display_name":"Yan Meng","orcid":"https://orcid.org/0000-0001-6248-5427"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yan Meng","raw_affiliation_strings":["Dept of Electr. & Comput. Eng., Stevens Inst. of Technol., Hoboken, NJ"],"affiliations":[{"raw_affiliation_string":"Dept of Electr. & Comput. Eng., Stevens Inst. of Technol., Hoboken, NJ","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113940724","display_name":"Kerry A. Johnson","orcid":null},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K. Johnson","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Stevens Institute of Technology, NJ, 07030, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Stevens Institute of Technology, NJ, 07030, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034961379","display_name":"Brian Simms","orcid":null},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B. Simms","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Stevens Institute of Technology, NJ, 07030, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Stevens Institute of Technology, NJ, 07030, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023426269","display_name":"Matthew Conforth","orcid":null},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Conforth","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Stevens Institute of Technology, NJ, 07030, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Stevens Institute of Technology, NJ, 07030, USA","institution_ids":["https://openalex.org/I108468826"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5088783147"],"corresponding_institution_ids":["https://openalex.org/I108468826"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.19224016,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"5778","issue":null,"first_page":"3725","last_page":"3730"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965000152587891,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9954000115394592,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.8086497783660889},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.7249220013618469},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7083311676979065},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.6421149373054504},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6219356656074524},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.5499661564826965},{"id":"https://openalex.org/keywords/microprocessor","display_name":"Microprocessor","score":0.5199355483055115},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.45532798767089844},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44473621249198914},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.44089096784591675},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4381108283996582},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.35212039947509766},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.270435631275177},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11689877510070801},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.103718101978302}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8086497783660889},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.7249220013618469},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7083311676979065},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.6421149373054504},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6219356656074524},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.5499661564826965},{"id":"https://openalex.org/C2780728072","wikidata":"https://www.wikidata.org/wiki/Q5297","display_name":"Microprocessor","level":2,"score":0.5199355483055115},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.45532798767089844},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44473621249198914},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.44089096784591675},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4381108283996582},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.35212039947509766},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.270435631275177},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11689877510070801},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.103718101978302},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2008.4651001","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4651001","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1520430301","https://openalex.org/W1546197819","https://openalex.org/W1884959207","https://openalex.org/W2027546131","https://openalex.org/W2046343612","https://openalex.org/W2085055226","https://openalex.org/W2110178871","https://openalex.org/W2120399547","https://openalex.org/W2121752594","https://openalex.org/W2127409423","https://openalex.org/W2143298775","https://openalex.org/W2156182358","https://openalex.org/W2182835826","https://openalex.org/W2532101216","https://openalex.org/W2536357280","https://openalex.org/W6676388466","https://openalex.org/W6680868465"],"related_works":["https://openalex.org/W2720417647","https://openalex.org/W4225163935","https://openalex.org/W86933508","https://openalex.org/W2765089336","https://openalex.org/W2663455904","https://openalex.org/W2313074614","https://openalex.org/W2166742878","https://openalex.org/W2130464959","https://openalex.org/W2883992449","https://openalex.org/W1942058526"],"abstract_inverted_index":{"Miniature":[0],"robots":[1,29],"have":[2],"many":[3],"advantages":[4],"over":[5],"their":[6],"larger":[7],"counterparts,":[8],"such":[9],"as":[10],"low":[11,13],"cost,":[12],"power,":[14],"and":[15,41,49,86,113,116,134],"easy":[16],"to":[17,37,52,93],"build":[18],"a":[19,67,82,103,107],"large":[20],"scale":[21],"team":[22],"for":[23,57,131],"complex":[24],"tasks.":[25],"Heterogeneous":[26],"multi":[27],"miniature":[28],"could":[30],"provide":[31],"powerful":[32],"situation":[33],"awareness":[34],"capability":[35],"due":[36],"different":[38,58],"locomotion":[39],"capabilities":[40],"sensor":[42,115],"information.":[43],"However,":[44],"it":[45],"would":[46],"be":[47,91],"expensive":[48],"time":[50],"consuming":[51],"develop":[53],"specific":[54],"embedded":[55,70],"system":[56,71,138],"type":[59],"of":[60,81,84,97,121],"robots.":[61],"In":[62],"this":[63],"paper,":[64],"we":[65],"propose":[66],"generic":[68],"modular":[69,76],"architecture":[72],"called":[73],"SMARbot":[74],"(Stevens":[75],"autonomous":[77],"robot),":[78],"which":[79],"consists":[80],"set":[83],"hardware":[85,109],"software":[87],"modules":[88,101,124],"that":[89],"can":[90],"configured":[92],"construct":[94],"various":[95],"types":[96],"robot":[98],"systems.":[99],"These":[100],"include":[102],"high":[104],"performance":[105],"microprocessor,":[106],"reconfigurable":[108],"component,":[110],"wireless":[111],"communication,":[112],"diverse":[114],"actuator":[117],"interfaces.":[118],"The":[119],"design":[120],"all":[122],"the":[123,128,135],"in":[125],"electrical":[126],"subsystem,":[127],"selection":[129],"criteria":[130],"module":[132],"components,":[133],"real-time":[136],"operating":[137],"are":[139,145],"described.":[140],"Some":[141],"preliminary":[142],"experimental":[143],"results":[144],"also":[146],"presented.":[147]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
