{"id":"https://openalex.org/W4413104763","doi":"https://doi.org/10.1109/lra.2025.3597893","title":"Cooperative Payload Estimation by a Team of Mocobots","display_name":"Cooperative Payload Estimation by a Team of Mocobots","publication_year":2025,"publication_date":"2025-08-11","ids":{"openalex":"https://openalex.org/W4413104763","doi":"https://doi.org/10.1109/lra.2025.3597893"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3597893","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3597893","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/A5021216139","display_name":"H. Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Haoxuan Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, Center for Robotics and Biosystems, Northwestern University, Evanston, IL, USA"],"raw_orcid":"https://orcid.org/0009-0006-9532-5626","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Center for Robotics and Biosystems, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102007150","display_name":"Cindy Liu","orcid":"https://orcid.org/0000-0003-2066-8609"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Lin Liu","raw_affiliation_strings":["Department of Mechanical Engineering, Center for Robotics and Biosystems, Northwestern University, Evanston, IL, USA"],"raw_orcid":"https://orcid.org/0000-0003-2066-8609","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Center for Robotics and Biosystems, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041493178","display_name":"Matthew L. Elwin","orcid":"https://orcid.org/0000-0003-4827-7925"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew L. Elwin","raw_affiliation_strings":["Department of Mechanical Engineering, Center for Robotics and Biosystems, Northwestern University, Evanston, IL, USA"],"raw_orcid":"https://orcid.org/0000-0003-4827-7925","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Center for Robotics and Biosystems, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102856571","display_name":"Randy A. Freeman","orcid":"https://orcid.org/0000-0001-8998-3696"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Randy A. Freeman","raw_affiliation_strings":["Center for Robotics and Biosystems, Department of Electrical and Computer Engineering, Northwestern Institute on Complex Systems, Northwestern University, Evanston, IL, USA"],"raw_orcid":"https://orcid.org/0000-0001-8998-3696","affiliations":[{"raw_affiliation_string":"Center for Robotics and Biosystems, Department of Electrical and Computer Engineering, Northwestern Institute on Complex Systems, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101845066","display_name":"Kevin Lynch","orcid":"https://orcid.org/0000-0003-3833-6004"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin M. Lynch","raw_affiliation_strings":["Department of Mechanical Engineering, Center for Robotics and Biosystems, Northwestern Institute on Complex Systems, Northwestern University, Evanston, IL, USA"],"raw_orcid":"https://orcid.org/0000-0003-3833-6004","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Center for Robotics and Biosystems, Northwestern Institute on Complex Systems, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5021216139"],"corresponding_institution_ids":["https://openalex.org/I111979921"],"apc_list":null,"apc_paid":null,"fwci":1.1277,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.80772342,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"10","issue":"10","first_page":"9806","last_page":"9813"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9678000211715698,"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":0.9678000211715698,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9294000267982483,"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/payload","display_name":"Payload (computing)","score":0.844883143901825},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5462838411331177},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48169049620628357},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.41518062353134155},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3174915909767151},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.21232262253761292},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.15284091234207153}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.844883143901825},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5462838411331177},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48169049620628357},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.41518062353134155},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3174915909767151},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.21232262253761292},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.15284091234207153},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3597893","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3597893","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309475","display_name":"Northwestern University","ror":"https://ror.org/000e0be47"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W200058615","https://openalex.org/W1560903273","https://openalex.org/W1656165940","https://openalex.org/W1988844787","https://openalex.org/W1997488333","https://openalex.org/W2001524797","https://openalex.org/W2033398663","https://openalex.org/W2108107014","https://openalex.org/W2128019145","https://openalex.org/W2136567909","https://openalex.org/W2159767809","https://openalex.org/W2214212631","https://openalex.org/W2307955234","https://openalex.org/W2336416123","https://openalex.org/W2569610420","https://openalex.org/W2788914657","https://openalex.org/W2963452033","https://openalex.org/W2963512822","https://openalex.org/W2979613320","https://openalex.org/W2991572051","https://openalex.org/W3090705592","https://openalex.org/W3214437493","https://openalex.org/W4230379404","https://openalex.org/W4311294866","https://openalex.org/W4399469378","https://openalex.org/W6842097421"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W4288094128","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337"],"abstract_inverted_index":{"For":[0],"high-performance":[1],"autonomous":[2],"manipulation":[3,15],"of":[4,88,92,107],"a":[5,8,47,105],"payload":[6],"by":[7],"mobile":[9,109],"manipulator":[10],"team,":[11],"or":[12,111],"for":[13,49],"collaborative":[14],"with":[16,104],"the":[17,31,36,50,61,64,79,83,86,89,95],"human,":[18],"robots":[19,27,51,58],"should":[20],"be":[21],"able":[22],"to":[23,30,52,77],"discover":[24,54],"where":[25],"other":[26],"are":[28,75],"attached":[29],"payload,":[32,62],"as":[33,35],"well":[34],"payload's":[37,90,96],"mass":[38],"and":[39,63,68,94],"inertial":[40],"properties.":[41],"In":[42],"this":[43,55],"paper,":[44],"we":[45],"describe":[46],"method":[48,100],"autonomously":[53],"information.":[56],"The":[57,99],"cooperatively":[59],"manipulate":[60],"twist,":[65],"twist":[66],"derivative,":[67],"wrench":[69],"data":[70],"at":[71],"their":[72],"grasp":[73,84],"frames":[74],"used":[76],"estimate":[78],"transformation":[80],"matrices":[81],"between":[82],"frames,":[85],"location":[87],"center":[91],"mass,":[93],"inertia":[97],"matrix.":[98],"is":[101],"validated":[102],"experimentally":[103],"team":[106],"three":[108],"cobots,":[110],"mocobots.":[112]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-04-25T08:17:42.794288","created_date":"2025-10-10T00:00:00"}