{"id":"https://openalex.org/W4403920003","doi":"https://doi.org/10.1109/ro-man60168.2024.10731209","title":"UnRealTHASC \u2013 A Cyber-Physical XR Testbed for Underwater Real-Time Human Autonomous Systems Collaboration","display_name":"UnRealTHASC \u2013 A Cyber-Physical XR Testbed for Underwater Real-Time Human Autonomous Systems Collaboration","publication_year":2024,"publication_date":"2024-08-26","ids":{"openalex":"https://openalex.org/W4403920003","doi":"https://doi.org/10.1109/ro-man60168.2024.10731209"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man60168.2024.10731209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man60168.2024.10731209","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5064207043","display_name":"Sushrut Surve","orcid":"https://orcid.org/0000-0001-5166-7807"},"institutions":[{"id":"https://openalex.org/I1312486979","display_name":"Local Initiatives Support Corporation","ror":"https://ror.org/04r5g1376","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1312486979"]},{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sushrut Surve","raw_affiliation_strings":["Cornell University,Laboratory of Intelligent Systems and Control(LISC), Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA,14850"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,Laboratory of Intelligent Systems and Control(LISC), Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA,14850","institution_ids":["https://openalex.org/I1312486979","https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101660404","display_name":"Jia Guo","orcid":"https://orcid.org/0000-0002-2156-9330"},"institutions":[{"id":"https://openalex.org/I1312486979","display_name":"Local Initiatives Support Corporation","ror":"https://ror.org/04r5g1376","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1312486979"]},{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jia Guo","raw_affiliation_strings":["Cornell University,Laboratory of Intelligent Systems and Control(LISC), Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA,14850"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,Laboratory of Intelligent Systems and Control(LISC), Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA,14850","institution_ids":["https://openalex.org/I1312486979","https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037739095","display_name":"Jovan Menezes","orcid":"https://orcid.org/0009-0009-6339-4610"},"institutions":[{"id":"https://openalex.org/I1312486979","display_name":"Local Initiatives Support Corporation","ror":"https://ror.org/04r5g1376","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1312486979"]},{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jovan C. Menezes","raw_affiliation_strings":["Cornell University,Laboratory of Intelligent Systems and Control(LISC), Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA,14850"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,Laboratory of Intelligent Systems and Control(LISC), Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA,14850","institution_ids":["https://openalex.org/I1312486979","https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002270469","display_name":"Connor Tate","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Connor Tate","raw_affiliation_strings":["Florida Institute for Human Machine Cognition,Human Healthspan Resilience and Performance Team,Pensacola,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Florida Institute for Human Machine Cognition,Human Healthspan Resilience and Performance Team,Pensacola,USA","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yiting Jin","orcid":null},"institutions":[{"id":"https://openalex.org/I1312486979","display_name":"Local Initiatives Support Corporation","ror":"https://ror.org/04r5g1376","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1312486979"]},{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yiting Jin","raw_affiliation_strings":["Cornell University,Laboratory of Intelligent Systems and Control(LISC), Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA,14850"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,Laboratory of Intelligent Systems and Control(LISC), Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA,14850","institution_ids":["https://openalex.org/I1312486979","https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034364216","display_name":"Justin H. Walker","orcid":"https://orcid.org/0000-0001-9390-388X"},"institutions":[{"id":"https://openalex.org/I1312486979","display_name":"Local Initiatives Support Corporation","ror":"https://ror.org/04r5g1376","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1312486979"]},{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Justin Walker","raw_affiliation_strings":["Cornell University,Laboratory of Intelligent Systems and Control(LISC), Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA,14850"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,Laboratory of Intelligent Systems and Control(LISC), Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA,14850","institution_ids":["https://openalex.org/I1312486979","https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101849469","display_name":"Silvio Ferrari","orcid":"https://orcid.org/0000-0002-7652-6311"},"institutions":[{"id":"https://openalex.org/I1312486979","display_name":"Local Initiatives Support Corporation","ror":"https://ror.org/04r5g1376","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1312486979"]},{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Silvia Ferrari","raw_affiliation_strings":["Cornell University,Laboratory of Intelligent Systems and Control(LISC), Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA,14850"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,Laboratory of Intelligent Systems and Control(LISC), Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA,14850","institution_ids":["https://openalex.org/I1312486979","https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"196","last_page":"203"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9474999904632568,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9474999904632568,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/testbed","display_name":"Testbed","score":0.9524445533752441},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6695585250854492},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.646446704864502},{"id":"https://openalex.org/keywords/cyber-physical-system","display_name":"Cyber-physical system","score":0.6228346228599548},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3917674422264099},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.36177557706832886},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3582853078842163},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.27047330141067505},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.1729811429977417},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.10523927211761475},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.0791926383972168}],"concepts":[{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.9524445533752441},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6695585250854492},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.646446704864502},{"id":"https://openalex.org/C179768478","wikidata":"https://www.wikidata.org/wiki/Q1120057","display_name":"Cyber-physical system","level":2,"score":0.6228346228599548},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3917674422264099},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.36177557706832886},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3582853078842163},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.27047330141067505},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.1729811429977417},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.10523927211761475},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0791926383972168}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ro-man60168.2024.10731209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man60168.2024.10731209","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1980505100","https://openalex.org/W2033819227","https://openalex.org/W2106507358","https://openalex.org/W2169807677","https://openalex.org/W2443322392","https://openalex.org/W2508678515","https://openalex.org/W2534644801","https://openalex.org/W2615547864","https://openalex.org/W2963826402","https://openalex.org/W3003384814","https://openalex.org/W3100476583","https://openalex.org/W3195945798","https://openalex.org/W4280601572","https://openalex.org/W4295290183","https://openalex.org/W4297022287","https://openalex.org/W4308351890","https://openalex.org/W4308469614","https://openalex.org/W4312650218","https://openalex.org/W4312692007","https://openalex.org/W4389298770","https://openalex.org/W6749900240"],"related_works":["https://openalex.org/W2883256816","https://openalex.org/W2171408034","https://openalex.org/W3003320923","https://openalex.org/W2106140982","https://openalex.org/W3089038912","https://openalex.org/W3123953333","https://openalex.org/W2741906949","https://openalex.org/W2058728358","https://openalex.org/W4387951187","https://openalex.org/W2103825597"],"abstract_inverted_index":{"Research":[0],"on":[1,140],"underwater":[2,91,135],"human-robot":[3,30,76],"teaming":[4],"is":[5],"particularly":[6],"promising":[7],"because":[8],"of":[9,22],"complementary":[10],"sensory":[11],"skills":[12],"that":[13,46,167],"may":[14,175],"overcome":[15],"unique":[16],"challenges":[17],"associated":[18],"with":[19,82,124],"the":[20,132],"combination":[21],"limited":[23],"connectivity":[24],"and":[25,43,85,88,102,108,117,137,144,155,161,164,173],"low":[26],"visibility.":[27],"Nevertheless,":[28],"testing":[29],"collaboration":[31,174],"under":[32],"water,":[33],"especially":[34],"in":[35,51,78,128],"complex,":[36],"real-world":[37],"scenarios,":[38],"poses":[39],"severe":[40],"safety,":[41],"cost,":[42],"time":[44],"constraints":[45],"significantly":[47],"hinder":[48],"academic":[49],"research":[50],"this":[52],"space.":[53],"This":[54],"paper":[55],"presents":[56],"a":[57],"novel":[58],"cyber-physical":[59],"extended-reality":[60],"(XR)":[61],"testbed,":[62],"referred":[63],"to":[64,74,99,130,153],"as":[65],"Underwater":[66],"Real-Time":[67],"Human":[68],"Autonomous":[69],"Systems":[70],"Collaboration":[71],"(UnRealTHASC),":[72],"designed":[73,98],"enable":[75],"interactions":[77],"simulated":[79],"photorealistic":[80],"environments":[81],"mixed":[83],"real":[84,101,160],"virtual":[86,103,162],"wearables,":[87],"advanced":[89],"autonomous":[90],"sensors":[92,104,163],"in-the-loop.":[93],"Novel":[94],"sensor":[95,126],"interfaces":[96],"are":[97,121,151],"integrate":[100],"for":[105,170],"measuring":[106],"physiological":[107],"cognitive":[109],"human":[110,116],"states":[111],"underpinning":[112],"decision-making":[113],"abilities.":[114],"Physics-based":[115],"robot":[118],"motion":[119],"models":[120],"developed":[122],"along":[123],"new":[125,168],"simulations":[127],"order":[129],"capture":[131],"couplings":[133],"between":[134],"behaviors":[136],"perception":[138],"based":[139],"measurements":[141],"from":[142,158],"optical":[143],"sonar":[145],"sensors.":[146],"Real-time":[147],"data":[148,157],"acquisition":[149],"pipelines":[150],"created":[152],"access":[154],"share":[156],"both":[159],"robots,":[165],"such":[166],"methods":[169],"online":[171],"planning":[172],"be":[176],"tested":[177],"via":[178],"human-in-the-loop":[179],"demonstrations.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
