{"id":"https://openalex.org/W4390099488","doi":"https://doi.org/10.1109/robio58561.2023.10354979","title":"A Gaze-based Bilateral Teleoperation Framework for a Team of Mobile Robots <sup>*</sup>","display_name":"A Gaze-based Bilateral Teleoperation Framework for a Team of Mobile Robots <sup>*</sup>","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099488","doi":"https://doi.org/10.1109/robio58561.2023.10354979"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354979","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354979","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5073986827","display_name":"Juzheng Mao","orcid":"https://orcid.org/0000-0002-4603-6864"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]},{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Juzheng Mao","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University,State Key Laboratory of Digital Medical Engineering,Nanjing,China,210096"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University,State Key Laboratory of Digital Medical Engineering,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007631634","display_name":"Guangming Song","orcid":"https://orcid.org/0000-0002-6362-4043"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]},{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangming Song","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University,State Key Laboratory of Digital Medical Engineering,Nanjing,China,210096"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University,State Key Laboratory of Digital Medical Engineering,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100904162","display_name":"Linlin Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linlin Cheng","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University,State Key Laboratory of Digital Medical Engineering,Nanjing,China,210096"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University,State Key Laboratory of Digital Medical Engineering,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076675945","display_name":"Mingquan Zhang","orcid":"https://orcid.org/0000-0002-8359-9121"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]},{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingquan Zhang","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University,State Key Laboratory of Digital Medical Engineering,Nanjing,China,210096"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University,State Key Laboratory of Digital Medical Engineering,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028429386","display_name":"Shengyu Xie","orcid":"https://orcid.org/0000-0002-3893-4082"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]},{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengyu Xie","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University,State Key Laboratory of Digital Medical Engineering,Nanjing,China,210096"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University,State Key Laboratory of Digital Medical Engineering,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102924920","display_name":"Shuang Hao","orcid":"https://orcid.org/0000-0002-4019-9785"},"institutions":[{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Hao","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University,State Key Laboratory of Digital Medical Engineering,Nanjing,China,210096"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University,State Key Laboratory of Digital Medical Engineering,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048327458","display_name":"Aiguo Song","orcid":"https://orcid.org/0000-0002-1982-6780"},"institutions":[{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aiguo Song","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University,State Key Laboratory of Digital Medical Engineering,Nanjing,China,210096"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University,State Key Laboratory of Digital Medical Engineering,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5073986827"],"corresponding_institution_ids":["https://openalex.org/I4387154005","https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18751377,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9923999905586243,"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/teleoperation","display_name":"Teleoperation","score":0.9337085485458374},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.8013033866882324},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6326907277107239},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6011564135551453},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5741024017333984},{"id":"https://openalex.org/keywords/gaze","display_name":"Gaze","score":0.5688780546188354},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.5100472569465637},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5054466724395752},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4757425785064697},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.44193312525749207},{"id":"https://openalex.org/keywords/situation-awareness","display_name":"Situation awareness","score":0.4378049671649933},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.42431530356407166},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39372485876083374},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38694941997528076},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37765297293663025},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.224956214427948}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9337085485458374},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8013033866882324},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6326907277107239},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6011564135551453},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5741024017333984},{"id":"https://openalex.org/C2779916870","wikidata":"https://www.wikidata.org/wiki/Q14467155","display_name":"Gaze","level":2,"score":0.5688780546188354},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.5100472569465637},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5054466724395752},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4757425785064697},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.44193312525749207},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.4378049671649933},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.42431530356407166},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39372485876083374},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38694941997528076},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37765297293663025},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.224956214427948},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio58561.2023.10354979","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354979","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1574433357","https://openalex.org/W2015022643","https://openalex.org/W2025421018","https://openalex.org/W2071935905","https://openalex.org/W2105164934","https://openalex.org/W2106946847","https://openalex.org/W2118717978","https://openalex.org/W2125212540","https://openalex.org/W2492722220","https://openalex.org/W2570612684","https://openalex.org/W2790215017","https://openalex.org/W2790810617","https://openalex.org/W2915708926","https://openalex.org/W2950451454","https://openalex.org/W3017227736","https://openalex.org/W3090849871"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W2510116200","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W2145960295","https://openalex.org/W2013463538","https://openalex.org/W2078176643"],"abstract_inverted_index":{"Utilizing":[0],"the":[1,35,39,46,49,54,86,90,94,96,99,115,125,131,143,159,167,177],"hand-based":[2],"input":[3,65,88],"with":[4,9,89,176],"haptic":[5,40,119],"feedback":[6,128],"to":[7,34,123,141],"interact":[8],"a":[10,72,79],"robot":[11,100,160],"team":[12,101],"has":[13],"attracted":[14],"significant":[15],"interest":[16],"because":[17],"of":[18,26,38,81,98],"its":[19],"high":[20],"situational":[21],"awareness.":[22],"The":[23,109,118,136,147,162],"main":[24,105,110],"disadvantages":[25],"this":[27,68],"interaction":[28,74],"include":[29],"insufficient":[30],"teleoperation":[31,180],"tasks":[32,106,111],"due":[33],"mechanical":[36],"limitation":[37],"device,":[41],"cognitive":[42],"load":[43],"caused":[44,62],"by":[45,63,84,114,158],"contradiction":[47],"between":[48],"highly-abstracted":[50],"control":[51,56,130],"command":[52],"and":[53,58,107,129,134,152,173],"low-level":[55],"input,":[57],"added":[59],"physical":[60],"fatigue":[61],"intensive":[64],"operations.":[66],"In":[67,93],"paper,":[69],"we":[70],"propose":[71],"novel":[73],"scheme":[75,168,181],"for":[76],"bilaterally":[77],"teleoperating":[78],"group":[80],"mobile":[82],"robots":[83],"combining":[85],"eye-gaze":[87],"hand":[91],"input.":[92,184],"scheme,":[95],"controller":[97],"is":[102,121,139,169],"divided":[103],"into":[104],"subtasks.":[108],"are":[112,155],"finished":[113],"master":[116],"devices.":[117],"device":[120],"utilized":[122],"receive":[124],"virtual":[126],"force":[127],"formation":[132,144,153],"size":[133],"velocity.":[135],"eye":[137],"tracker":[138],"used":[140],"generate":[142],"transition":[145],"commands.":[146],"subtasks":[148],"including":[149],"obstacle":[150],"avoidance":[151],"keeping":[154],"accomplished":[156],"autonomously":[157],"team.":[161],"experimental":[163],"results":[164],"show":[165],"that":[166],"more":[170],"acceptable,":[171],"intuitive,":[172],"efficient":[174],"compared":[175],"traditional":[178],"bilateral":[179],"without":[182],"gaze":[183]},"counts_by_year":[],"updated_date":"2025-12-19T19:40:27.379048","created_date":"2025-10-10T00:00:00"}