{"id":"https://openalex.org/W4206092021","doi":"https://doi.org/10.1109/jiot.2022.3141266","title":"Resource-Aware Estimation and Control for Edge Robotics: A Set-Based Approach","display_name":"Resource-Aware Estimation and Control for Edge Robotics: A Set-Based Approach","publication_year":2022,"publication_date":"2022-01-07","ids":{"openalex":"https://openalex.org/W4206092021","doi":"https://doi.org/10.1109/jiot.2022.3141266"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2022.3141266","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2022.3141266","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pure.qub.ac.uk/en/publications/a8a18a55-48a1-4d70-a5fc-ca2d26063e86","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5005011713","display_name":"Dimitrios Spatharakis","orcid":"https://orcid.org/0000-0002-0157-7173"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Dimitrios Spatharakis","raw_affiliation_strings":["School of Electrical and Computer Engineering, National Technical University of Athens, Athens, Greece"],"raw_orcid":"https://orcid.org/0000-0002-0157-7173","affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, National Technical University of Athens, Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032708439","display_name":"Marios Avgeris","orcid":"https://orcid.org/0000-0003-4883-930X"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Marios Avgeris","raw_affiliation_strings":["School of Electrical and Computer Engineering, National Technical University of Athens, Athens, Greece"],"raw_orcid":"https://orcid.org/0000-0003-4883-930X","affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, National Technical University of Athens, Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101980175","display_name":"\u039d\u03b9\u03ba\u03cc\u03bb\u03b1\u03bf\u03c2 \u0391\u03b8\u03b1\u03bd\u03b1\u03c3\u03cc\u03c0\u03bf\u03c5\u03bb\u03bf\u03c2","orcid":"https://orcid.org/0000-0002-0845-6163"},"institutions":[{"id":"https://openalex.org/I126231945","display_name":"Queen's University Belfast","ror":"https://ror.org/00hswnk62","country_code":"GB","type":"education","lineage":["https://openalex.org/I126231945"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nikolaos Athanasopoulos","raw_affiliation_strings":["School of Electronics, Electrical Engineering and Computer Science, Queen&#x2019;s University Belfast, Belfast, U.K"],"raw_orcid":"https://orcid.org/0000-0002-0845-6163","affiliations":[{"raw_affiliation_string":"School of Electronics, Electrical Engineering and Computer Science, Queen&#x2019;s University Belfast, Belfast, U.K","institution_ids":["https://openalex.org/I126231945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090929641","display_name":"Dimitrios Dechouniotis","orcid":"https://orcid.org/0000-0002-8984-9064"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Dimitrios Dechouniotis","raw_affiliation_strings":["School of Electrical and Computer Engineering, National Technical University of Athens, Athens, Greece"],"raw_orcid":"https://orcid.org/0000-0002-8984-9064","affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, National Technical University of Athens, Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035126390","display_name":"Symeon Papavassiliou","orcid":"https://orcid.org/0000-0002-9459-318X"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Symeon Papavassiliou","raw_affiliation_strings":["School of Electrical and Computer Engineering, National Technical University of Athens, Athens, Greece"],"raw_orcid":"https://orcid.org/0000-0002-9459-318X","affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, National Technical University of Athens, Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0817,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.73211996,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"10","issue":"3","first_page":"2003","last_page":"2020"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T10273","display_name":"IoT and Edge/Fog Computing","score":0.9980999827384949,"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/computer-science","display_name":"Computer science","score":0.8724027276039124},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.58758145570755},{"id":"https://openalex.org/keywords/edge-computing","display_name":"Edge computing","score":0.578849732875824},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5670639872550964},{"id":"https://openalex.org/keywords/computation-offloading","display_name":"Computation offloading","score":0.5648344159126282},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5302419662475586},{"id":"https://openalex.org/keywords/mobile-edge-computing","display_name":"Mobile edge computing","score":0.5206903219223022},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5034374594688416},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4834790825843811},{"id":"https://openalex.org/keywords/server","display_name":"Server","score":0.45838895440101624},{"id":"https://openalex.org/keywords/edge-device","display_name":"Edge device","score":0.4473963975906372},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.408790647983551},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38069531321525574},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.2854478359222412},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.19478631019592285}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8724027276039124},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.58758145570755},{"id":"https://openalex.org/C2778456923","wikidata":"https://www.wikidata.org/wiki/Q5337692","display_name":"Edge computing","level":3,"score":0.578849732875824},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5670639872550964},{"id":"https://openalex.org/C2781041963","wikidata":"https://www.wikidata.org/wiki/Q18348618","display_name":"Computation offloading","level":4,"score":0.5648344159126282},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5302419662475586},{"id":"https://openalex.org/C2776061582","wikidata":"https://www.wikidata.org/wiki/Q25325231","display_name":"Mobile edge computing","level":3,"score":0.5206903219223022},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5034374594688416},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4834790825843811},{"id":"https://openalex.org/C93996380","wikidata":"https://www.wikidata.org/wiki/Q44127","display_name":"Server","level":2,"score":0.45838895440101624},{"id":"https://openalex.org/C138236772","wikidata":"https://www.wikidata.org/wiki/Q25098575","display_name":"Edge device","level":3,"score":0.4473963975906372},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.408790647983551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38069531321525574},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.2854478359222412},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.19478631019592285},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/jiot.2022.3141266","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2022.3141266","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"},{"id":"pmh:oai:pure.qub.ac.uk/portal:openaire/a8a18a55-48a1-4d70-a5fc-ca2d26063e86","is_oa":true,"landing_page_url":"https://pure.qub.ac.uk/en/publications/a8a18a55-48a1-4d70-a5fc-ca2d26063e86","pdf_url":null,"source":{"id":"https://openalex.org/S4306402319","display_name":"Research Portal (Queen's University Belfast)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I126231945","host_organization_name":"Queen's University Belfast","host_organization_lineage":["https://openalex.org/I126231945"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Spatharakis, D, Avgeris, M, Athanasopoulos, N, Dechouniotis, D & Papavassiliou, S 2023, 'Resource-aware Estimation and Control for Edge Robotics: a Set-based Approach', IEEE Internet of Things Journal, vol. 10, no. 3, pp. 2003-2020. https://doi.org/10.1109/JIOT.2022.3141266","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:zenodo.org:6082286","is_oa":true,"landing_page_url":"https://zenodo.org/record/6082286","pdf_url":"https://zenodo.org/record/6082286","source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:pure.qub.ac.uk/portal:openaire/a8a18a55-48a1-4d70-a5fc-ca2d26063e86","is_oa":true,"landing_page_url":"https://pure.qub.ac.uk/en/publications/a8a18a55-48a1-4d70-a5fc-ca2d26063e86","pdf_url":null,"source":{"id":"https://openalex.org/S4306402319","display_name":"Research Portal (Queen's University Belfast)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I126231945","host_organization_name":"Queen's University Belfast","host_organization_lineage":["https://openalex.org/I126231945"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Spatharakis, D, Avgeris, M, Athanasopoulos, N, Dechouniotis, D & Papavassiliou, S 2023, 'Resource-aware Estimation and Control for Edge Robotics: a Set-based Approach', IEEE Internet of Things Journal, vol. 10, no. 3, pp. 2003-2020. https://doi.org/10.1109/JIOT.2022.3141266","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.6000000238418579,"id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G1604577016","display_name":"Edge Computing Resource Allocation for Dynamic Networks","funder_award_id":"ANR-19-CHR3-0001","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G6326211435","display_name":null,"funder_award_id":"CHIST-ERA-18-SDCDN-003","funder_id":"https://openalex.org/F4320338463","funder_display_name":"CHIST-ERA"},{"id":"https://openalex.org/G7002624956","display_name":null,"funder_award_id":"EP/T021942/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8802231043","display_name":null,"funder_award_id":"CHIST-ERA-18-SDCDN-003 (DRUID-NET)","funder_id":"https://openalex.org/F4320338463","funder_display_name":"CHIST-ERA"},{"id":"https://openalex.org/G8906562682","display_name":null,"funder_award_id":"T11EPA4-00022","funder_id":"https://openalex.org/F4320321917","funder_display_name":"General Secretariat for Research and Technology"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"},{"id":"https://openalex.org/F4320321917","display_name":"General Secretariat for Research and Technology","ror":"https://ror.org/04yeh8h63"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320338463","display_name":"CHIST-ERA","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W172589331","https://openalex.org/W1424654272","https://openalex.org/W1510285870","https://openalex.org/W1568523562","https://openalex.org/W1595466107","https://openalex.org/W1880805667","https://openalex.org/W2084859862","https://openalex.org/W2085302753","https://openalex.org/W2091259063","https://openalex.org/W2105934661","https://openalex.org/W2106187441","https://openalex.org/W2135493014","https://openalex.org/W2313274380","https://openalex.org/W2336607923","https://openalex.org/W2360714575","https://openalex.org/W2560381275","https://openalex.org/W2568852336","https://openalex.org/W2604410735","https://openalex.org/W2624812791","https://openalex.org/W2739611732","https://openalex.org/W2741222326","https://openalex.org/W2765639350","https://openalex.org/W2777392906","https://openalex.org/W2807662017","https://openalex.org/W2910992388","https://openalex.org/W2962747795","https://openalex.org/W2968797000","https://openalex.org/W2983700794","https://openalex.org/W2996318927","https://openalex.org/W2998966530","https://openalex.org/W3011042361","https://openalex.org/W3016234469","https://openalex.org/W3047014196","https://openalex.org/W3091626269","https://openalex.org/W3093518335","https://openalex.org/W3105866452","https://openalex.org/W3118058857","https://openalex.org/W3133695455","https://openalex.org/W3163488673","https://openalex.org/W3201221690","https://openalex.org/W6746969752","https://openalex.org/W6753991957","https://openalex.org/W6786048923","https://openalex.org/W6790628593"],"related_works":["https://openalex.org/W4200420173","https://openalex.org/W4225987626","https://openalex.org/W3120617837","https://openalex.org/W3127808443","https://openalex.org/W2916011811","https://openalex.org/W3034137700","https://openalex.org/W4362496467","https://openalex.org/W2902693277","https://openalex.org/W4378977105","https://openalex.org/W4406207611"],"abstract_inverted_index":{"The":[0,72,148],"evolution":[1],"of":[2,6,28,39,61,64,114,121,150],"the":[3,18,25,37,58,62,82,112,115,119,135,140,145,151],"Industrial":[4],"Internet":[5],"Things":[7],"(IIoT)":[8],"and":[9,47,78,81,102,117,139,158],"edge":[10,30],"computing":[11,48,142],"enables":[12],"resource-constrained":[13],"mobile":[14],"robots":[15],"to":[16,32,76],"offload":[17,33],"computationally":[19],"intensive":[20],"localization":[21],"algorithms.":[22],"Naturally,":[23],"utilizing":[24],"remote":[26,122],"resources":[27,143],"an":[29],"server":[31],"these":[34],"tasks":[35],"encounters":[36],"challenge":[38],"a":[40,52,65,69,124],"joint":[41],"co-design":[42],"in":[43],"communication,":[44],"control,":[45],"estimation,":[46],"infrastructure.":[49],"We":[50],"introduce":[51],"set-based":[53,96],"estimation":[54,83,106],"offloading":[55,126,162],"framework,":[56],"for":[57],"specific":[59],"case":[60],"navigation":[63,101],"unicycle":[66],"robot":[67,73],"toward":[68],"target":[70],"position.":[71],"is":[74,85,128,154],"subject":[75],"modeling":[77],"measurement":[79],"uncertainties,":[80],"set":[84],"calculated":[86],"using":[87],"overapproximation":[88],"techniques":[89],"that":[90],"alleviate":[91],"additional":[92],"computations.":[93],"A":[94],"switching":[95],"control":[97],"mechanism":[98,127],"provides":[99],"accurate":[100],"triggers":[103],"more":[104],"precise":[105],"algorithms":[107],"when":[108],"needed.":[109],"To":[110],"guarantee":[111],"convergence":[113],"system":[116],"optimize":[118],"utilization":[120],"resources,":[123],"utility-based":[125],"designed,":[129],"which":[130],"takes":[131],"into":[132],"account":[133],"both":[134],"dynamic":[136],"network":[137,146],"conditions":[138],"available":[141],"at":[144],"edge.":[147],"performance":[149],"proposed":[152],"framework":[153],"demonstrated":[155],"through":[156],"simulations":[157],"comparison":[159],"with":[160],"alternative":[161],"schemes.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4}],"updated_date":"2026-08-04T08:18:43.703281","created_date":"2025-10-10T00:00:00"}
