{"id":"https://openalex.org/W4409494206","doi":"https://doi.org/10.1109/lra.2025.3561569","title":"MR-COGraphs: Communication-Efficient Multi-Robot Open-Vocabulary Mapping System via 3D Scene Graphs","display_name":"MR-COGraphs: Communication-Efficient Multi-Robot Open-Vocabulary Mapping System via 3D Scene Graphs","publication_year":2025,"publication_date":"2025-04-16","ids":{"openalex":"https://openalex.org/W4409494206","doi":"https://doi.org/10.1109/lra.2025.3561569"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3561569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3561569","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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/A5051535472","display_name":"Qiuyi Gu","orcid":null},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"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":"Qiuyi Gu","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115597187","display_name":"Zhen Ye","orcid":"https://orcid.org/0000-0001-6091-6772"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"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":"Zhaocheng Ye","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jincheng Yu","orcid":"https://orcid.org/0009-0007-3831-3845"},"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":"Jincheng Yu","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0007-3831-3845","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059366500","display_name":"Jiahao Tang","orcid":"https://orcid.org/0009-0006-5922-3139"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"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":"Jiahao Tang","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Tinghao Yi","orcid":"https://orcid.org/0000-0002-3295-025X"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tinghao Yi","raw_affiliation_strings":["Department of Computer Science, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-3295-025X","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108047157","display_name":"Yuhan Dong","orcid":"https://orcid.org/0000-0001-5275-1787"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"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":"Yuhan Dong","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-5275-1787","affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100370361","display_name":"Jian Wang","orcid":"https://orcid.org/0000-0001-7683-6937"},"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":"Jian Wang","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7683-6937","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062631244","display_name":"Jinqiang Cui","orcid":"https://orcid.org/0000-0002-7833-1876"},"institutions":[{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinqiang Cui","raw_affiliation_strings":["Pengcheng Laboratory, Shenzhen, Guangdong, China"],"raw_orcid":"https://orcid.org/0000-0002-7833-1876","affiliations":[{"raw_affiliation_string":"Pengcheng Laboratory, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I4210136793"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016095713","display_name":"Xinlei Chen","orcid":"https://orcid.org/0000-0001-8271-5023"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"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":"Xinlei Chen","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-8271-5023","affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":null,"display_name":"Yu Wang","orcid":"https://orcid.org/0000-0001-6108-5157"},"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":"Yu Wang","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6108-5157","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.5446,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.9670053,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"10","issue":"6","first_page":"5713","last_page":"5720"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9617999792098999,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9617999792098999,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9578999876976013,"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/T10028","display_name":"Topic Modeling","score":0.9470999836921692,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.5830032825469971},{"id":"https://openalex.org/keywords/vocabulary","display_name":"Vocabulary","score":0.5398015975952148},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43052491545677185},{"id":"https://openalex.org/keywords/linguistics","display_name":"Linguistics","score":0.18570175766944885},{"id":"https://openalex.org/keywords/philosophy","display_name":"Philosophy","score":0.0583210289478302}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5830032825469971},{"id":"https://openalex.org/C2777601683","wikidata":"https://www.wikidata.org/wiki/Q6499736","display_name":"Vocabulary","level":2,"score":0.5398015975952148},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43052491545677185},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.18570175766944885},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0583210289478302}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3561569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3561569","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6000000238418579,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[{"id":"https://openalex.org/G2045798616","display_name":null,"funder_award_id":"62325405","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3502297661","display_name":null,"funder_award_id":"62371269","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5419310833","display_name":null,"funder_award_id":"62031017","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8338455073","display_name":null,"funder_award_id":"62203257","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"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":33,"referenced_works":["https://openalex.org/W2411093439","https://openalex.org/W2911679274","https://openalex.org/W2919379406","https://openalex.org/W2963150697","https://openalex.org/W2990129662","https://openalex.org/W3039925688","https://openalex.org/W3090386798","https://openalex.org/W3206707024","https://openalex.org/W3207022667","https://openalex.org/W4283332944","https://openalex.org/W4286367218","https://openalex.org/W4312424618","https://openalex.org/W4317383094","https://openalex.org/W4385416186","https://openalex.org/W4385431115","https://openalex.org/W4386065742","https://openalex.org/W4387092482","https://openalex.org/W4387421260","https://openalex.org/W4389665630","https://openalex.org/W4390874575","https://openalex.org/W4396853083","https://openalex.org/W4401414715","https://openalex.org/W4401990649","https://openalex.org/W4402354022","https://openalex.org/W4402716032","https://openalex.org/W4402727529","https://openalex.org/W6791353385","https://openalex.org/W6854061876","https://openalex.org/W6854164357","https://openalex.org/W6855158220","https://openalex.org/W6857009137","https://openalex.org/W6857861739","https://openalex.org/W6883280635"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Collaborative":[0],"perception":[1],"in":[2,50],"unknown":[3],"environments":[4],"is":[5,89],"crucial":[6],"for":[7,47,122,159],"multi-robot":[8,48],"systems.":[9],"With":[10],"the":[11,93,97,105,129,148,166],"emergence":[12],"of":[13,96,108,131],"foundation":[14],"models,":[15],"robots":[16],"can":[17],"now":[18],"not":[19],"only":[20],"perceive":[21],"geometric":[22],"information":[23],"but":[24],"also":[25,117],"achieve":[26],"open-vocabulary":[27,36,160],"scene":[28],"understanding.":[29],"However,":[30],"existing":[31,157],"map":[32,161],"representations":[33],"that":[34],"support":[35],"queries":[37],"often":[38],"involve":[39],"large":[40],"data":[41,167],"volumes,":[42],"which":[43],"becomes":[44],"a":[45,59,63,85,114,119,135],"bottleneck":[46],"transmission":[49],"communication-limited":[51],"environments.":[52],"To":[53],"address":[54],"this":[55],"challenge,":[56],"we":[57],"develop":[58],"method":[60],"to":[61,91,156],"construct":[62],"graph-structured":[64],"3D":[65],"representation":[66],"called":[67],"COGraph,":[68],"where":[69],"nodes":[70],"represent":[71],"objects":[72],"with":[73],"semantic":[74,106],"features":[75,107],"and":[76,125,147,175],"edges":[77],"capture":[78],"their":[79],"spatial":[80],"adjacency":[81],"relationships.":[82],"Before":[83],"transmission,":[84],"data-driven":[86],"feature":[87,94],"encoder":[88],"applied":[90],"compress":[92],"dimensions":[95],"COGraph.":[98],"Upon":[99],"receiving":[100],"COGraphs":[101,133],"from":[102],"other":[103],"robots,":[104],"each":[109],"node":[110],"are":[111],"recovered":[112],"using":[113],"decoder.":[115],"We":[116,139],"propose":[118],"feature-based":[120],"approach":[121],"place":[123],"recognition":[124],"translation":[126],"estimation,":[127],"enabling":[128],"merging":[130],"local":[132],"into":[134],"unified":[136],"global":[137],"map.":[138],"validate":[140],"our":[141,163,185],"framework":[142,164],"on":[143],"two":[144],"realistic":[145],"datasets":[146],"real-world":[149],"environment.":[150],"The":[151],"results":[152],"demonstrate":[153],"that,":[154],"compared":[155],"baselines":[158],"construction,":[162],"reduces":[165],"volume":[168],"by":[169],"over":[170],"80%":[171],"while":[172],"maintaining":[173],"mapping":[174],"query":[176],"performance":[177],"without":[178],"compromise.":[179],"For":[180],"more":[181],"details,":[182],"please":[183],"visit":[184],"website":[186],"at":[187],"<uri":[188],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[189],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/efc-robot/MR-COGraphs</uri>.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
