{"id":"https://openalex.org/W4378365282","doi":"https://doi.org/10.1109/jiot.2023.3280313","title":"ManiWare: An Easy-to-Use Middleware for Cooperative Manipulator Teams","display_name":"ManiWare: An Easy-to-Use Middleware for Cooperative Manipulator Teams","publication_year":2023,"publication_date":"2023-05-26","ids":{"openalex":"https://openalex.org/W4378365282","doi":"https://doi.org/10.1109/jiot.2023.3280313"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2023.3280313","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2023.3280313","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067207374","display_name":"Jinlin Chen","orcid":"https://orcid.org/0000-0003-3923-8844"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Jinlin Chen","raw_affiliation_strings":["Department of Computing, The Hong Kong Polytechnic University, Hong Kong, china"],"raw_orcid":"https://orcid.org/0000-0003-3923-8844","affiliations":[{"raw_affiliation_string":"Department of Computing, The Hong Kong Polytechnic University, Hong Kong, china","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100740023","display_name":"Jiannong Cao","orcid":"https://orcid.org/0000-0002-2725-2529"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jiannong Cao","raw_affiliation_strings":["Department of Computing, The Hong Kong Polytechnic University, Hong Kong, china"],"raw_orcid":"https://orcid.org/0000-0002-2725-2529","affiliations":[{"raw_affiliation_string":"Department of Computing, The Hong Kong Polytechnic University, Hong Kong, china","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044545565","display_name":"Zhiqin Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zhiqin Cheng","raw_affiliation_strings":["Department of Computing, The Hong Kong Polytechnic University, Hong Kong, china"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computing, The Hong Kong Polytechnic University, Hong Kong, china","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053526481","display_name":"Yuvraj Sahni","orcid":"https://orcid.org/0000-0003-4875-6950"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yuvraj Sahni","raw_affiliation_strings":["Department of Building Environment and Energy Engineering, The Hong Kong Polytechnic University, Hong Kong, china"],"raw_orcid":"https://orcid.org/0000-0003-4875-6950","affiliations":[{"raw_affiliation_string":"Department of Building Environment and Energy Engineering, The Hong Kong Polytechnic University, Hong Kong, china","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5067207374"],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":null,"apc_paid":null,"fwci":0.3798,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.54095026,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"10","issue":"16","first_page":"14212","last_page":"14225"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994999766349792,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9993000030517578,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9891999959945679,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8402633666992188},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.6557126641273499},{"id":"https://openalex.org/keywords/middleware","display_name":"Middleware (distributed applications)","score":0.6261342167854309},{"id":"https://openalex.org/keywords/plug-in","display_name":"Plug-in","score":0.5947703123092651},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.523402988910675},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.5183895230293274},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46596720814704895},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.463566392660141},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.43132850527763367},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4275743365287781},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.38582223653793335},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.37331700325012207},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31248679757118225},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28393298387527466},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.23390436172485352}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8402633666992188},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.6557126641273499},{"id":"https://openalex.org/C169468491","wikidata":"https://www.wikidata.org/wiki/Q146923","display_name":"Middleware (distributed applications)","level":2,"score":0.6261342167854309},{"id":"https://openalex.org/C4924752","wikidata":"https://www.wikidata.org/wiki/Q184148","display_name":"Plug-in","level":2,"score":0.5947703123092651},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.523402988910675},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.5183895230293274},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46596720814704895},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.463566392660141},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.43132850527763367},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4275743365287781},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.38582223653793335},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.37331700325012207},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31248679757118225},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28393298387527466},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.23390436172485352},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2023.3280313","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2023.3280313","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Partnerships for the goals","score":0.5600000023841858,"id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322598","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W84433840","https://openalex.org/W1788123742","https://openalex.org/W1975949753","https://openalex.org/W1997202276","https://openalex.org/W2005616670","https://openalex.org/W2027653328","https://openalex.org/W2057609590","https://openalex.org/W2082511574","https://openalex.org/W2125716438","https://openalex.org/W2148033465","https://openalex.org/W2597626586","https://openalex.org/W2738606439","https://openalex.org/W2765094417","https://openalex.org/W2775198042","https://openalex.org/W2792635226","https://openalex.org/W2794663059","https://openalex.org/W2810501773","https://openalex.org/W2901112449","https://openalex.org/W2909331752","https://openalex.org/W2940265767","https://openalex.org/W2950069298","https://openalex.org/W2963390419","https://openalex.org/W2963516423","https://openalex.org/W2969336608","https://openalex.org/W2974078846","https://openalex.org/W2981946308","https://openalex.org/W3009969748","https://openalex.org/W3015991193","https://openalex.org/W3018490575","https://openalex.org/W3041790910","https://openalex.org/W3047039444","https://openalex.org/W3094406739","https://openalex.org/W3132354968","https://openalex.org/W3133007015","https://openalex.org/W3186042173","https://openalex.org/W3214258632","https://openalex.org/W3217058894","https://openalex.org/W4200438872","https://openalex.org/W4205939810","https://openalex.org/W4225996517","https://openalex.org/W4246038204","https://openalex.org/W4399469378","https://openalex.org/W6754503705","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W1981002473","https://openalex.org/W2357657342","https://openalex.org/W47352601","https://openalex.org/W2981957539","https://openalex.org/W4287378204","https://openalex.org/W2153432761","https://openalex.org/W2461489085","https://openalex.org/W2545422590","https://openalex.org/W4387322618","https://openalex.org/W1968332008"],"abstract_inverted_index":{"Manipulator":[0],"teams":[1],"are":[2],"frequently":[3],"employed":[4],"in":[5,48,171],"various":[6],"industrial":[7],"applications":[8,24],"to":[9,22,35,52,131],"handle":[10],"challenging":[11],"cooperative":[12,183],"tasks.":[13],"The":[14,109,176,197],"complicated":[15],"interaction":[16],"between":[17],"manipulators":[18,51,80],"makes":[19],"it":[20],"difficult":[21],"design":[23],"from":[25,122],"scratch.":[26],"Although":[27],"robotics":[28],"middleware":[29,61,91],"has":[30],"emerged":[31],"as":[32],"the":[33,37,59,94,99,115,120,123,129,138,145,154,163,172],"key":[34],"lowering":[36],"development":[38,116],"complexity":[39],"of":[40,72,79,148,151],"manipulator":[41,107],"applications,":[42],"existing":[43],"works":[44],"still":[45],"have":[46],"limitations":[47],"controlling":[49],"multiple":[50],"carry":[53],"out":[54],"tasks":[55,184],"cooperatively.":[56],"To":[57],"overcome":[58],"limitations,":[60],"should":[62],"provide":[63],"programming":[64,96,104,111],"abstraction":[65,97,112],"support,":[66],"coordination":[67],"mechanism,":[68],"and":[69,98,105,143,161,193],"dynamic":[70],"reconfiguration":[71,155],"motion":[73,146],"controllers":[74],"so":[75],"that":[76,92,180],"a":[77,186],"team":[78],"can":[81,113],"work":[82,86,158],"together":[83],"efficiently.":[84],"This":[85,157],"proposes":[87],"ManiWare,":[88],"an":[89],"easy-to-use":[90],"provides":[93],"team-level":[95,110],"manipulator-level":[100],"plugin":[101,139],"mechanism":[102,140],"for":[103],"configuring":[106],"applications.":[108],"facilitate":[114],"process":[117],"by":[118],"invoking":[119],"functions":[121],"fundamental":[124],"cooperation":[125],"components,":[126],"which":[127],"drives":[128],"developers":[130],"focus":[132],"on":[133],"designing":[134],"application":[135],"logic.":[136],"Besides,":[137],"dynamically":[141],"configures":[142],"manages":[144],"controller":[147],"different":[149],"parts":[150],"manipulators,":[152],"making":[153],"feasible.":[156],"implements":[159],"ManiWare":[160,181],"evaluates":[162],"task":[164],"execution":[165],"performance":[166],"with":[167,185],"three":[168],"case":[169],"studies":[170],"high-fidelity":[173],"simulation":[174],"platform.":[175],"experimental":[177],"results":[178],"demonstrate":[179],"facilitates":[182],"high":[187],"success":[188],"rate,":[189],"efficient":[190],"completion":[191],"time,":[192],"marginal":[194],"runtime":[195],"overhead.":[196],"source":[198],"code":[199],"is":[200],"at":[201],"<uri":[202],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[203],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/sundycoder/maniware</uri>":[204],".":[205]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
