{"id":"https://openalex.org/W4389665908","doi":"https://doi.org/10.1109/iros55552.2023.10342520","title":"ANEC: Adaptive Neural Ensemble Controller for Mitigating Latency Problems in Vision-Based Autonomous Driving","display_name":"ANEC: Adaptive Neural Ensemble Controller for Mitigating Latency Problems in Vision-Based Autonomous Driving","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665908","doi":"https://doi.org/10.1109/iros55552.2023.10342520"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342520","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5024608205","display_name":"Aws Khalil","orcid":"https://orcid.org/0000-0001-9139-3900"},"institutions":[{"id":"https://openalex.org/I4210130704","display_name":"University of Michigan\u2013Dearborn","ror":"https://ror.org/035wtm547","country_code":"US","type":"education","lineage":["https://openalex.org/I4210130704"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Aws Khalil","raw_affiliation_strings":["University of Michigan-Dearborn,Department of Electrical and Computer Engineering,Dearborn,MI,USA","Department of Electrical and Computer Engineering, University of Michigan-Dearborn, Dearborn, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan-Dearborn,Department of Electrical and Computer Engineering,Dearborn,MI,USA","institution_ids":["https://openalex.org/I4210130704"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Michigan-Dearborn, Dearborn, MI, USA","institution_ids":["https://openalex.org/I4210130704"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045732610","display_name":"Jaerock Kwon","orcid":"https://orcid.org/0000-0002-5687-6998"},"institutions":[{"id":"https://openalex.org/I4210130704","display_name":"University of Michigan\u2013Dearborn","ror":"https://ror.org/035wtm547","country_code":"US","type":"education","lineage":["https://openalex.org/I4210130704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jaerock Kwon","raw_affiliation_strings":["University of Michigan-Dearborn,Department of Electrical and Computer Engineering,Dearborn,MI,USA","Department of Electrical and Computer Engineering, University of Michigan-Dearborn, Dearborn, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan-Dearborn,Department of Electrical and Computer Engineering,Dearborn,MI,USA","institution_ids":["https://openalex.org/I4210130704"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Michigan-Dearborn, Dearborn, MI, USA","institution_ids":["https://openalex.org/I4210130704"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5024608205"],"corresponding_institution_ids":["https://openalex.org/I4210130704"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17872173,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9340","last_page":"9346"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9994000196456909,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9969000220298767,"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/latency","display_name":"Latency (audio)","score":0.7682887315750122},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7319995164871216},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5859690308570862},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.555556058883667},{"id":"https://openalex.org/keywords/deep-neural-networks","display_name":"Deep neural networks","score":0.42244765162467957},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41077151894569397},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40431681275367737},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3475208878517151}],"concepts":[{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.7682887315750122},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7319995164871216},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5859690308570862},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.555556058883667},{"id":"https://openalex.org/C2984842247","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep neural networks","level":3,"score":0.42244765162467957},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41077151894569397},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40431681275367737},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3475208878517151},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342520","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W2077012593","https://openalex.org/W2167340365","https://openalex.org/W2342840547","https://openalex.org/W2740067745","https://openalex.org/W2883845690","https://openalex.org/W2899251323","https://openalex.org/W2899418201","https://openalex.org/W2901389985","https://openalex.org/W2943723147","https://openalex.org/W2950955091","https://openalex.org/W2963340840","https://openalex.org/W2969284583","https://openalex.org/W2981380746","https://openalex.org/W3003878797","https://openalex.org/W3011218729","https://openalex.org/W3017736836","https://openalex.org/W3023371578","https://openalex.org/W3065845581","https://openalex.org/W3109870774","https://openalex.org/W3117721362","https://openalex.org/W3131975216","https://openalex.org/W3175574950","https://openalex.org/W3199149820","https://openalex.org/W4213015556","https://openalex.org/W4226035311","https://openalex.org/W4283076523","https://openalex.org/W4285617516","https://openalex.org/W4300172425","https://openalex.org/W6631190155","https://openalex.org/W6684338915","https://openalex.org/W6756486208","https://openalex.org/W6776763211","https://openalex.org/W6839043673"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W2307385607","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2391251536","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2954284861","https://openalex.org/W3036465205"],"abstract_inverted_index":{"Humans":[0],"have":[1,98],"latency":[2,43,65,93,116],"in":[3,80,124,158,174],"their":[4],"visual":[5],"perception":[6,64,92,110],"system":[7],"between":[8],"observation":[9,21],"and":[10,33,75,128],"action.":[11],"Any":[12],"action":[13],"we":[14,26,34],"take":[15],"is":[16,44,78,85,94,143,182],"based":[17],"on":[18,118],"an":[19],"earlier":[20],"since,":[22],"by":[23,48,69,145],"the":[24,28,49,53,90,108,115,125,136,146,170],"time":[25,52],"act,":[27],"state":[29],"has":[30],"already":[31],"changed,":[32],"got":[35],"a":[36,86,130],"new":[37],"observation.":[38],"In":[39],"autonomous":[40,122],"driving,":[41],"this":[42],"also":[45],"present,":[46],"determined":[47],"amount":[50],"of":[51,107,150,172],"control":[54],"algorithm":[55],"needs":[56],"to":[57],"process":[58],"information":[59],"before":[60],"acting.":[61],"This":[62,112],"algorithmic":[63,91,109,177],"can":[66],"be":[67],"reduced":[68],"massive":[70],"computing":[71],"power":[72],"via":[73],"GPUs":[74],"FPGAs,":[76],"which":[77,168],"improbable":[79],"automobile":[81],"platforms.":[82],"Thus,":[83],"it":[84],"reasonable":[87],"assumption":[88],"that":[89,142],"inevitable.":[95],"Many":[96],"researchers":[97],"developed":[99],"different":[100],"neural":[101,120,133],"network":[102,121,134],"driving":[103,123],"models":[104],"without":[105],"consideration":[106],"latency.":[111,178],"paper":[113],"studies":[114],"effect":[117],"vision-based":[119,131],"lane-keeping":[126],"task":[127],"proposes":[129],"novel":[132],"controller,":[135],"Adaptive":[137],"Neural":[138],"Ensemble":[139],"Controller":[140],"(ANEC)":[141],"inspired":[144],"near/far":[147],"gaze":[148],"distribution":[149],"human":[151],"drivers":[152],"during":[153],"lane-keeping.":[154],"ANEC":[155,173],"was":[156],"tested":[157],"Gazebo":[159],"3D":[160],"simulation":[161],"environment":[162],"with":[163,176],"Robot":[164],"Operating":[165],"System":[166],"(ROS)":[167],"showed":[169],"effectiveness":[171],"dealing":[175],"The":[179],"source":[180],"code":[181],"available":[183],"at":[184],"https://github.com/jrkwon/oscar/tree/devel_anec.":[185]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}