{"id":"https://openalex.org/W4312233781","doi":"https://doi.org/10.1109/iros47612.2022.9982135","title":"OCTOANTS: A Heterogeneous Lightweight Intelligent Multi-Robot Collaboration System with Resource-constrained IoT Devices","display_name":"OCTOANTS: A Heterogeneous Lightweight Intelligent Multi-Robot Collaboration System with Resource-constrained IoT Devices","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312233781","doi":"https://doi.org/10.1109/iros47612.2022.9982135"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982135","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5114378267","display_name":"Qian Zhang","orcid":"https://orcid.org/0000-0001-9205-1881"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qian Zhang","raw_affiliation_strings":["Tsinghua University,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014891527","display_name":"Ruiyang Quan","orcid":null},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruiyang Quan","raw_affiliation_strings":["Tsinghua University,Beijing,China,100084","Chongqing University of Posts and Telecommunications, Chongqing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Chongqing University of Posts and Telecommunications, Chongqing, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044209803","display_name":"Siqin Qimuge","orcid":null},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siqin Qimuge","raw_affiliation_strings":["Tsinghua University,Beijing,China,100084","Beijing Jiaotong University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031206827","display_name":"Peimin Xia","orcid":null},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peimin Xia","raw_affiliation_strings":["Tsinghua University,Beijing,China,100084","Beijing Jiaotong University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085579919","display_name":"Jiaheng Wang","orcid":"https://orcid.org/0000-0002-9783-5471"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaheng Wang","raw_affiliation_strings":["University of Science and Technology Beijing,Beijing,China,100083"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology Beijing,Beijing,China,100083","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085109649","display_name":"Xin Zan","orcid":"https://orcid.org/0000-0002-1467-9347"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Zan","raw_affiliation_strings":["Xi&#x0027;an Jiaotong University,Xi&#x0027;an,China,710049"],"affiliations":[{"raw_affiliation_string":"Xi&#x0027;an Jiaotong University,Xi&#x0027;an,China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007956048","display_name":"Fangshi Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangshi Wang","raw_affiliation_strings":["Beijing Jiaotong University,Beijing,China,100044"],"affiliations":[{"raw_affiliation_string":"Beijing Jiaotong University,Beijing,China,100044","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057443408","display_name":"Changchuan Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changchuan Chen","raw_affiliation_strings":["Chongqing University of Posts and Telecommunications,Chongqing,China,400065"],"affiliations":[{"raw_affiliation_string":"Chongqing University of Posts and Telecommunications,Chongqing,China,400065","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075311656","display_name":"Qi Wei","orcid":"https://orcid.org/0000-0003-3189-7562"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Wei","raw_affiliation_strings":["Tsinghua University,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057344646","display_name":"Huichan Zhao","orcid":"https://orcid.org/0000-0003-2640-9528"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huichan Zhao","raw_affiliation_strings":["Tsinghua University,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006520303","display_name":"Xin-Jun Liu","orcid":"https://orcid.org/0000-0001-8252-8367"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinjun Liu","raw_affiliation_strings":["Tsinghua University,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063901096","display_name":"Fei Qiao","orcid":"https://orcid.org/0000-0002-5054-9590"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Qiao","raw_affiliation_strings":["Tsinghua University,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":12,"corresponding_author_ids":["https://openalex.org/A5114378267"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.7078,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.64226491,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2556","last_page":"2563"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9991999864578247,"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":0.9991999864578247,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9990000128746033,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.998199999332428,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/internet-of-things","display_name":"Internet of Things","score":0.7705307006835938},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7051277160644531},{"id":"https://openalex.org/keywords/resource","display_name":"Resource (disambiguation)","score":0.5837888121604919},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5198241472244263},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.46137890219688416},{"id":"https://openalex.org/keywords/resource-management","display_name":"Resource management (computing)","score":0.43334439396858215},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40346357226371765},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3080499768257141},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23706945776939392},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.18012401461601257}],"concepts":[{"id":"https://openalex.org/C81860439","wikidata":"https://www.wikidata.org/wiki/Q251212","display_name":"Internet of Things","level":2,"score":0.7705307006835938},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7051277160644531},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.5837888121604919},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5198241472244263},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.46137890219688416},{"id":"https://openalex.org/C2780609101","wikidata":"https://www.wikidata.org/wiki/Q17156588","display_name":"Resource management (computing)","level":2,"score":0.43334439396858215},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40346357226371765},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3080499768257141},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23706945776939392},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.18012401461601257}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9982135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982135","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7480401652","display_name":null,"funder_award_id":"92164203","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W24289143","https://openalex.org/W612478963","https://openalex.org/W1970504153","https://openalex.org/W1989838848","https://openalex.org/W2021851106","https://openalex.org/W2040134986","https://openalex.org/W2076917298","https://openalex.org/W2105503847","https://openalex.org/W2151290401","https://openalex.org/W2153054365","https://openalex.org/W2535547924","https://openalex.org/W2755900095","https://openalex.org/W2773890870","https://openalex.org/W2901136733","https://openalex.org/W2906636743","https://openalex.org/W2950989657","https://openalex.org/W3043971245","https://openalex.org/W3089936780","https://openalex.org/W3100250216","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3129733688","https://openalex.org/W3131697353","https://openalex.org/W3206924710"],"related_works":["https://openalex.org/W4245926026","https://openalex.org/W4311097251","https://openalex.org/W2586548817","https://openalex.org/W2625093826","https://openalex.org/W2950174689","https://openalex.org/W4200598720","https://openalex.org/W2921026492","https://openalex.org/W4247463117","https://openalex.org/W4361251261","https://openalex.org/W3031181660"],"abstract_inverted_index":{"As":[0],"the":[1,19,26,53,82,107,113,117,132,178,182,206,219,235],"focus":[2,31],"on":[3,32,213],"highly":[4],"intelligent":[5,48,109,171],"robots":[6,69],"continues,":[7],"a":[8,38,45,62,85,97,103,169,228],"problem":[9,21],"that":[10,174],"cannot":[11],"be":[12,225],"ignored":[13],"has":[14],"emerged:":[15],"resource":[16,23],"con-straints.":[17],"Considering":[18],"game":[20],"of":[22,28,41,92,106,143,231,239],"limitation":[24],"and":[25,57,73,88,100,116,128,135,146,164,195,203,223,237],"level":[27],"intelligence,":[29,79],"we":[30,60,80,121,160],"lightweight":[33,47,78,108,118,170],"intelligence.":[34],"This":[35],"work":[36],"is":[37,200,212],"further":[39],"refinement":[40],"our":[42,187,209,240],"previous":[43],"work,":[44],"heterogeneous":[46,63,162,165,188,210],"multi-robot":[49],"system.":[50,110],"In-spired":[51],"by":[52],"nature":[54],"creatures":[55],"\u201coctopus\u201d":[56],"\u201cants\u201d.":[58],"First,":[59],"propose":[61,102,122],"centralized-distributed":[64,114],"architecture,":[65],"which":[66,149],"can":[67,150,175,192,224],"make":[68],"collaboration":[70,156],"more":[71,216],"flexible":[72],"non-redundant.":[74],"Second,":[75],"to":[76,131,167,227],"reflect":[77],"use":[81,161],"Raspberry":[83,185],"Pi,":[84],"low":[86],"computing":[87,119],"power":[89,198],"consumption":[90,199],"internet":[91],"things":[93,153],"(IoT)":[94],"device,":[95],"as":[96],"processing":[98],"platform":[99,184],"first":[101],"quantitative":[104],"definition":[105],"Then,":[111],"combining":[112],"architecture":[115,141],"platform,":[120],"an":[123],"adapted":[124],"algorithm":[125],"called":[126],"OCTOANTS":[127,140],"apply":[129],"it":[130],"simultaneous":[133],"localization":[134],"mapping":[136],"(SLAM)":[137],"field.":[138],"The":[139],"consists":[142],"one":[144],"brain":[145],"eight":[147],"tentacles,":[148],"achieve":[151],"complex":[152],"with":[154],"proper":[155],"between":[157],"them.":[158],"Finally,":[159],"cameras":[163],"algorithms":[166],"form":[168],"collaborative":[172],"system":[173,211,222],"run":[176],"in":[177],"real":[179],"world.":[180],"On":[181],"low-grade":[183],"Pi":[186],"tentacles":[189],"frame":[190],"rate":[191],"reach":[193],"41fps":[194],"99.8fps":[196],"respectively,":[197],"only":[201],"2W":[202],"1.2W.":[204],"At":[205],"same":[207],"time,":[208],"average":[214],"7.2%":[215],"accurate":[217],"than":[218],"state-of-the-art":[220],"homogeneous":[221],"applied":[226],"wider":[229],"range":[230],"application":[232],"scenarios,":[233],"demonstrating":[234],"superiority":[236],"feasibility":[238],"OCTOANTS.":[241]},"counts_by_year":[{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
