{"id":"https://openalex.org/W4405785146","doi":"https://doi.org/10.1109/iros58592.2024.10801770","title":"Highly Efficient Observation Process Based on FFT Filtering for Robot Swarm Collaborative Navigation in Unknown Environments<sup>*</sup>","display_name":"Highly Efficient Observation Process Based on FFT Filtering for Robot Swarm Collaborative Navigation in Unknown Environments<sup>*</sup>","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785146","doi":"https://doi.org/10.1109/iros58592.2024.10801770"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801770","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801770","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5100441336","display_name":"Chenxi Li","orcid":"https://orcid.org/0000-0001-5103-8998"},"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":"Chenxi Li","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075352865","display_name":"Weining Lu","orcid":"https://orcid.org/0000-0002-0927-1259"},"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":"Weining Lu","raw_affiliation_strings":["Tsinghua University,Beijing National Research Center for Information Science and Technology,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing National Research Center for Information Science and Technology,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069546042","display_name":"Zhihao Ma","orcid":"https://orcid.org/0000-0001-6651-423X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihao Ma","raw_affiliation_strings":["Sun Yat-sen University,Department of Mechanical Engineering,Shenzhen,China,518107"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University,Department of Mechanical Engineering,Shenzhen,China,518107","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113207972","display_name":"Litong Meng","orcid":null},"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":"Litong Meng","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101626172","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0001-6310-6214"},"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":"Bin Liang","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10267","last_page":"10274"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9937999844551086,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9937999844551086,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9861000180244446,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9782999753952026,"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/fast-fourier-transform","display_name":"Fast Fourier transform","score":0.7374066114425659},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.7170453071594238},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6577327251434326},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6344459652900696},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5919386148452759},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4217425286769867},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4211939871311188},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3873261511325836},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3330603241920471},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.28135761618614197},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.1200127899646759}],"concepts":[{"id":"https://openalex.org/C75172450","wikidata":"https://www.wikidata.org/wiki/Q623950","display_name":"Fast Fourier transform","level":2,"score":0.7374066114425659},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.7170453071594238},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6577327251434326},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6344459652900696},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5919386148452759},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4217425286769867},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4211939871311188},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3873261511325836},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3330603241920471},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.28135761618614197},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.1200127899646759}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801770","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801770","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1573353278","https://openalex.org/W1969483458","https://openalex.org/W2061171222","https://openalex.org/W2098412395","https://openalex.org/W2107667896","https://openalex.org/W2111460811","https://openalex.org/W2177274602","https://openalex.org/W2745859992","https://openalex.org/W2789621580","https://openalex.org/W2969897047","https://openalex.org/W2981762858","https://openalex.org/W2992833799","https://openalex.org/W3047616003","https://openalex.org/W3114626444","https://openalex.org/W3118665117","https://openalex.org/W4205677764","https://openalex.org/W4210425585","https://openalex.org/W4210891818","https://openalex.org/W4229007520","https://openalex.org/W4383066352","https://openalex.org/W6682324061","https://openalex.org/W6753516098"],"related_works":["https://openalex.org/W4288714711","https://openalex.org/W3200708550","https://openalex.org/W2736680465","https://openalex.org/W2771637876","https://openalex.org/W2901195353","https://openalex.org/W2530004804","https://openalex.org/W1966857494","https://openalex.org/W2590712470","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Collaborative":[0],"path":[1,147],"planning":[2,105],"for":[3,75,82],"robot":[4],"swarms":[5],"in":[6,121,125,132,138,145],"complex,":[7],"unknown":[8],"environments":[9],"without":[10],"external":[11],"positioning":[12],"is":[13,93,110,124],"a":[14,43,63],"challenging":[15],"problem.":[16],"This":[17,40],"requires":[18],"robots":[19],"to":[20,30,52,95],"find":[21],"safe":[22,76],"directions":[23],"based":[24,46],"on":[25,47,112],"real-time":[26],"environmental":[27,60,88],"observations,":[28],"and":[29,33,85,104,117,142],"efficiently":[31],"transfer":[32],"fuse":[34],"these":[35,54],"observations":[36,61,103],"within":[37],"the":[38,83,113,118,143],"swarm.":[39],"study":[41],"presents":[42],"filtering":[44],"method":[45],"Fast":[48],"Fourier":[49],"Transform":[50],"(FFT)":[51],"address":[53],"two":[55,70],"issues.":[56],"We":[57],"treat":[58],"sensors\u2019":[59],"as":[62,79,81],"digital":[64],"sampling":[65],"process.":[66],"Then,":[67],"we":[68],"design":[69],"different":[71],"types":[72],"of":[73,87,101,115,129],"filters":[74],"direction":[77],"extraction,":[78],"well":[80],"compression":[84],"reconstruction":[86],"data.":[89],"The":[90,107,127],"reconstructed":[91],"data":[92,120,134],"mapped":[94],"probabilistic":[96],"domain,":[97],"achieving":[98],"efficient":[99],"fusion":[100],"swarm":[102,146],"decision.":[106],"computation":[108],"time":[109],"only":[111],"order":[114],"microseconds,":[116],"transmission":[119],"communication":[122],"systems":[123],"bit-level.":[126],"performance":[128],"our":[130],"algorithm":[131],"sensor":[133],"processing":[135],"was":[136,149],"validated":[137],"real":[139],"world":[140],"experiments,":[141],"effectiveness":[144],"optimization":[148],"demonstrated":[150],"through":[151],"extensive":[152],"simulations.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2024-12-26T00:00:00"}