{"id":"https://openalex.org/W4405784937","doi":"https://doi.org/10.1109/iros58592.2024.10802639","title":"Towards Kbps-level Vehicle Teleoperation via Persistent-Transient Environment Modelling","display_name":"Towards Kbps-level Vehicle Teleoperation via Persistent-Transient Environment Modelling","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405784937","doi":"https://doi.org/10.1109/iros58592.2024.10802639"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802639","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802639","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":"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/A5103249275","display_name":"Chunyang Zhao","orcid":"https://orcid.org/0009-0004-4351-9336"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Chunyang Zhao","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101777562","display_name":"Zeyu Zhou","orcid":"https://orcid.org/0009-0001-5493-9019"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zeyu Zhou","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002710698","display_name":"Haoran Liu","orcid":"https://orcid.org/0000-0003-3017-7483"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Haoran Liu","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029408136","display_name":"Do\u011fan K\u0131rcal\u0131","orcid":"https://orcid.org/0000-0001-7723-3732"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Dogan Kircali","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006531502","display_name":"Guoyi Chi","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Guoyi Chi","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044087019","display_name":"Hongming Shen","orcid":"https://orcid.org/0000-0002-1491-5346"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hongming Shen","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043106548","display_name":"Yuanzhe Wang","orcid":"https://orcid.org/0000-0002-1683-4849"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yuanzhe Wang","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083472752","display_name":"Danwei Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Danwei Wang","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5103249275"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":0.516,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73233068,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"13875","last_page":"13882"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11195","display_name":"Simulation Techniques and Applications","score":0.9485999941825867,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T11195","display_name":"Simulation Techniques and Applications","score":0.9485999941825867,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8182081580162048},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.7279557585716248},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5786374807357788},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4581756293773651},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4287446141242981},{"id":"https://openalex.org/keywords/transient-analysis","display_name":"Transient analysis","score":0.4135717749595642},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31274622678756714},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25088590383529663},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2497909665107727},{"id":"https://openalex.org/keywords/transient-response","display_name":"Transient response","score":0.24164366722106934},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1952793300151825},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09694752097129822},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.0779271125793457}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8182081580162048},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.7279557585716248},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5786374807357788},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4581756293773651},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4287446141242981},{"id":"https://openalex.org/C2989121073","wikidata":"https://www.wikidata.org/wiki/Q1309019","display_name":"Transient analysis","level":3,"score":0.4135717749595642},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31274622678756714},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25088590383529663},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2497909665107727},{"id":"https://openalex.org/C85761212","wikidata":"https://www.wikidata.org/wiki/Q1974593","display_name":"Transient response","level":2,"score":0.24164366722106934},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1952793300151825},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09694752097129822},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0779271125793457}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802639","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802639","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":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.7599999904632568}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320320708","display_name":"Maritime and Port Authority of Singapore","ror":"https://ror.org/03nt1ca89"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1749494163","https://openalex.org/W2024721056","https://openalex.org/W2048793758","https://openalex.org/W2170741583","https://openalex.org/W2396413207","https://openalex.org/W2517424214","https://openalex.org/W2788496341","https://openalex.org/W2940793188","https://openalex.org/W2966299732","https://openalex.org/W2966611292","https://openalex.org/W2990744692","https://openalex.org/W3013451882","https://openalex.org/W3033083775","https://openalex.org/W3035574168","https://openalex.org/W3092475999","https://openalex.org/W3110769932","https://openalex.org/W3113944763","https://openalex.org/W3130044230","https://openalex.org/W3130718409","https://openalex.org/W3131628257","https://openalex.org/W3133309409","https://openalex.org/W3167095230","https://openalex.org/W3175567033","https://openalex.org/W3194155402","https://openalex.org/W3195901373","https://openalex.org/W3208786066","https://openalex.org/W4200150166","https://openalex.org/W4200297363","https://openalex.org/W4206079149","https://openalex.org/W4281661603","https://openalex.org/W4285121260","https://openalex.org/W4285153670","https://openalex.org/W4293058067","https://openalex.org/W4312265650","https://openalex.org/W4312380024","https://openalex.org/W4312571988","https://openalex.org/W4312815172","https://openalex.org/W4362698359","https://openalex.org/W4382568036","https://openalex.org/W4383108189","https://openalex.org/W4385318467","https://openalex.org/W4385356253","https://openalex.org/W4385459364","https://openalex.org/W6676114642","https://openalex.org/W6767183016"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W817518365","https://openalex.org/W2097059456","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W2022619197","https://openalex.org/W2145960295","https://openalex.org/W2078176643","https://openalex.org/W2067221866"],"abstract_inverted_index":{"Traditional":[0],"teleoperation":[1,39,142],"technologies":[2],"based":[3,38],"on":[4,96],"video":[5],"streaming":[6],"are":[7],"facing":[8],"several":[9],"challenges":[10],"in":[11,45,105,144,160],"practical":[12],"applications,":[13],"including":[14],"limited":[15],"bandwidth,":[16],"constrained":[17],"spatial":[18,117],"awareness,":[19],"and":[20,89,132,135],"sensitivity":[21],"to":[22,115],"illumination.":[23],"Existing":[24],"studies":[25],"have":[26],"not":[27],"adequately":[28],"addressed":[29],"these":[30],"issues.":[31],"This":[32,119],"paper":[33],"presents":[34],"a":[35,56,65,99],"novel":[36],"non-video":[37],"framework":[40,159],"for":[41,62],"autonomous":[42],"vehicles":[43],"operating":[44],"bandwidth-limited":[46,161],"environments.":[47],"To":[48],"reduce":[49],"the":[50,69,108,153,157],"amount":[51],"of":[52,68,107,126,156],"data":[53],"being":[54],"transmitted,":[55],"persistent-transient":[57],"environment":[58,70],"model":[59,121],"is":[60,71,103],"proposed":[61,158],"telepresence.":[63],"Initially,":[64],"digital":[66],"twin":[67],"preconstructed,":[72],"containing":[73],"only":[74,122],"persistent":[75],"environmental":[76],"information.":[77],"Subsequently,":[78],"transient":[79],"information":[80],"captured":[81],"by":[82,138],"onboard":[83],"sensors,":[84],"such":[85],"as":[86],"vehicle":[87,130],"state":[88,131],"dynamic":[90],"objects,":[91,134],"necessitate":[92],"real-time":[93,124],"transmission.":[94],"Based":[95],"this":[97],"model,":[98],"3D":[100],"virtual":[101,113],"scene":[102],"rendered":[104],"front":[106],"teleoperator,":[109],"offering":[110],"any":[111],"desired":[112],"viewpoint":[114],"enhance":[116],"awareness.":[118],"telepresence":[120],"requires":[123],"transmission":[125],"minimal":[127],"data,":[128],"i.e.,":[129],"detected":[133],"remains":[136],"unaffected":[137],"illumination":[139],"conditions,":[140],"enabling":[141],"even":[143],"applications":[145],"with":[146],"Kbps-level":[147],"bandwidth":[148],"constraints.":[149],"Experimental":[150],"results":[151],"showcase":[152],"substantial":[154],"potential":[155],"settings.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
