{"id":"https://openalex.org/W3014464557","doi":"https://doi.org/10.1109/iros45743.2020.9341205","title":"The Pluggable Distributed Resource Allocator (PDRA): a Middleware for Distributed Computing in Mobile Robotic Networks","display_name":"The Pluggable Distributed Resource Allocator (PDRA): a Middleware for Distributed Computing in Mobile Robotic Networks","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3014464557","doi":"https://doi.org/10.1109/iros45743.2020.9341205","mag":"3014464557"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341205","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.13813","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065789205","display_name":"Federico Rossi","orcid":"https://orcid.org/0000-0002-8091-881X"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Federico Rossi","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088963415","display_name":"Tiago Vaquero","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tiago Stegun Vaquero","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080078972","display_name":"Marc S\u00e1nchez Net","orcid":"https://orcid.org/0000-0003-1751-6372"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marc Sanchez-Net","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050819232","display_name":"Ma\u00edra Saboia da Silva","orcid":"https://orcid.org/0000-0002-6277-1703"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maira Saboia da Silva","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061885176","display_name":"Joshua Vander Hook","orcid":"https://orcid.org/0000-0002-0493-237X"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joshua Vander Hook","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","NASA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"NASA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5065789205"],"corresponding_institution_ids":["https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":0.1612,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.51032245,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"4337","last_page":"4344"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10772","display_name":"Distributed systems and fault tolerance","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10772","display_name":"Distributed systems and fault tolerance","score":0.9994000196456909,"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/T11896","display_name":"Opportunistic and Delay-Tolerant Networks","score":0.9983000159263611,"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/T12288","display_name":"Optimization and Search Problems","score":0.9965000152587891,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/executor","display_name":"Executor","score":0.8539317846298218},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8377413749694824},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.695503830909729},{"id":"https://openalex.org/keywords/allocator","display_name":"Allocator","score":0.6211497783660889},{"id":"https://openalex.org/keywords/middleware","display_name":"Middleware (distributed applications)","score":0.4315037131309509},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.3905732333660126},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3371010422706604}],"concepts":[{"id":"https://openalex.org/C180591056","wikidata":"https://www.wikidata.org/wiki/Q654437","display_name":"Executor","level":2,"score":0.8539317846298218},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8377413749694824},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.695503830909729},{"id":"https://openalex.org/C162262903","wikidata":"https://www.wikidata.org/wiki/Q343527","display_name":"Allocator","level":2,"score":0.6211497783660889},{"id":"https://openalex.org/C169468491","wikidata":"https://www.wikidata.org/wiki/Q146923","display_name":"Middleware (distributed applications)","level":2,"score":0.4315037131309509},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.3905732333660126},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3371010422706604},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros45743.2020.9341205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341205","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2003.13813","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.13813","pdf_url":"https://arxiv.org/pdf/2003.13813","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"mag:3014464557","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2003.13813.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2003.13813","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2003.13813","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2003.13813","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.13813","pdf_url":"https://arxiv.org/pdf/2003.13813","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320309398","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055"},{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3014464557.pdf","grobid_xml":"https://content.openalex.org/works/W3014464557.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1977545325","https://openalex.org/W2035510971","https://openalex.org/W2074070730","https://openalex.org/W2097625638","https://openalex.org/W2100704341","https://openalex.org/W2113257089","https://openalex.org/W2143131113","https://openalex.org/W2157488300","https://openalex.org/W2279337095","https://openalex.org/W2287429606","https://openalex.org/W2517828448","https://openalex.org/W2611515161","https://openalex.org/W2736870873","https://openalex.org/W2883331799","https://openalex.org/W2901136733","https://openalex.org/W2915825623","https://openalex.org/W2947198853","https://openalex.org/W2965030512","https://openalex.org/W2972154709","https://openalex.org/W6756486208","https://openalex.org/W6759781625","https://openalex.org/W7039375288"],"related_works":["https://openalex.org/W3132865701","https://openalex.org/W2998813341","https://openalex.org/W2136506739","https://openalex.org/W2128072015","https://openalex.org/W1880774266","https://openalex.org/W3110660255","https://openalex.org/W3155910776","https://openalex.org/W1558519218","https://openalex.org/W2801051386","https://openalex.org/W2525851376","https://openalex.org/W2172268044","https://openalex.org/W2982592664","https://openalex.org/W2019301570","https://openalex.org/W2809867641","https://openalex.org/W1488007096","https://openalex.org/W2113780469","https://openalex.org/W2163818532","https://openalex.org/W2515114088","https://openalex.org/W2141282499","https://openalex.org/W3185843543"],"abstract_inverted_index":{"We":[0],"present":[1],"the":[2,52,109,118,164],"Pluggable":[3],"Distributed":[4],"Resource":[5],"Allocator":[6],"(PDRA),":[7],"a":[8,88,94,144],"middleware":[9],"for":[10,27,64,120],"distributed":[11],"computing":[12],"in":[13,73,93,138,154],"heterogeneous":[14],"mobile":[15],"robotic":[16,21],"networks.":[17],"PDRA":[18,66,128,160],"enables":[19],"autonomous":[20],"agents":[22],"to":[23,61,143,163],"share":[24],"computational":[25,46],"resources":[26,47],"computationally":[28],"expensive":[29],"tasks":[30],"such":[31],"as":[32],"localization":[33],"and":[34,44,103,132,151,156],"path":[35],"planning.":[36],"It":[37],"sits":[38],"between":[39],"an":[40,74,167],"existing":[41,45,75],"single-agent":[42],"planner/executor":[43],"(e.g.":[48],"ROS":[49],"packages),":[50],"intercepts":[51],"executor's":[53],"requests":[54],"and,":[55],"if":[56],"needed,":[57],"transparently":[58],"routes":[59],"them":[60],"other":[62],"robots":[63],"execution.":[65],"is":[67,161],"pluggable:":[68],"it":[69],"can":[70,111,129],"be":[71],"integrated":[72],"single-robot":[76],"autonomy":[77],"stack":[78],"with":[79],"minimal":[80],"modifications.":[81],"Task":[82],"allocation":[83],"decisions":[84],"are":[85],"performed":[86],"by":[87,135],"mixed-integer":[89],"programming":[90],"algorithm,":[91],"solved":[92],"shared-world":[95],"fashion,":[96],"that":[97,127],"models":[98],"CPU":[99,133],"resources,":[100],"latency":[101],"requirements,":[102],"multi-hop,":[104],"periodic,":[105],"bandwidth-limited":[106],"network":[107],"communications;":[108],"algorithm":[110],"minimize":[112],"overall":[113],"energy":[114,131],"usage":[115,134],"or":[116],"maximize":[117],"reward":[119],"completing":[121],"optional":[122],"tasks.":[123],"Simulation":[124],"results":[125],"show":[126],"reduce":[130],"over":[136],"50%":[137],"representative":[139],"multi-robot":[140],"scenarios":[141],"compared":[142],"naive":[145],"scheduler;":[146],"runs":[147],"on":[148],"embedded":[149],"platforms;":[150],"performs":[152],"well":[153],"delay-":[155],"disruption-tolerant":[157],"networks":[158],"(DTNs).":[159],"available":[162],"community":[165],"under":[166],"open-source":[168],"license.":[169]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
