{"id":"https://openalex.org/W2097299275","doi":"https://doi.org/10.1109/robot.2010.5509469","title":"DAvinCi: A cloud computing framework for service robots","display_name":"DAvinCi: A cloud computing framework for service robots","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2097299275","doi":"https://doi.org/10.1109/robot.2010.5509469","mag":"2097299275"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509469","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509469","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","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/A5020367543","display_name":"Rajesh Vellore Arumugam","orcid":"https://orcid.org/0000-0002-2732-7236"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I144291393","display_name":"Data Storage Institute","ror":"https://ror.org/03k5xes38","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I144291393"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Rajesh Arumugam","raw_affiliation_strings":["Data Storage Institute, Agency for Science, Technology and Research, Singapore","Data Storage Institute, A-STAR, Singapore#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Data Storage Institute, Agency for Science, Technology and Research, Singapore","institution_ids":["https://openalex.org/I144291393","https://openalex.org/I115228651"]},{"raw_affiliation_string":"Data Storage Institute, A-STAR, Singapore#TAB#","institution_ids":["https://openalex.org/I144291393"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057329551","display_name":"Vikas Reddy Enti","orcid":null},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I144291393","display_name":"Data Storage Institute","ror":"https://ror.org/03k5xes38","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I144291393"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Vikas Reddy Enti","raw_affiliation_strings":["Data Storage Institute, Agency for Science, Technology and Research, Singapore","Data Storage Institute, A-STAR, Singapore#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Data Storage Institute, Agency for Science, Technology and Research, Singapore","institution_ids":["https://openalex.org/I144291393","https://openalex.org/I115228651"]},{"raw_affiliation_string":"Data Storage Institute, A-STAR, Singapore#TAB#","institution_ids":["https://openalex.org/I144291393"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Liu Bingbing","orcid":null},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I144291393","display_name":"Data Storage Institute","ror":"https://ror.org/03k5xes38","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I144291393"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Liu Bingbing","raw_affiliation_strings":["Data Storage Institute, Agency for Science, Technology and Research, Singapore","Data Storage Institute, A-STAR, Singapore#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Data Storage Institute, Agency for Science, Technology and Research, Singapore","institution_ids":["https://openalex.org/I144291393","https://openalex.org/I115228651"]},{"raw_affiliation_string":"Data Storage Institute, A-STAR, Singapore#TAB#","institution_ids":["https://openalex.org/I144291393"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103658588","display_name":"Wu Xiaojun","orcid":null},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I144291393","display_name":"Data Storage Institute","ror":"https://ror.org/03k5xes38","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I144291393"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wu Xiaojun","raw_affiliation_strings":["Data Storage Institute, Agency for Science, Technology and Research, Singapore","Data Storage Institute, A-STAR, Singapore#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Data Storage Institute, Agency for Science, Technology and Research, Singapore","institution_ids":["https://openalex.org/I144291393","https://openalex.org/I115228651"]},{"raw_affiliation_string":"Data Storage Institute, A-STAR, Singapore#TAB#","institution_ids":["https://openalex.org/I144291393"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103832960","display_name":"Krishnamoorthy Baskaran","orcid":null},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I144291393","display_name":"Data Storage Institute","ror":"https://ror.org/03k5xes38","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I144291393"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Krishnamoorthy Baskaran","raw_affiliation_strings":["Data Storage Institute, Agency for Science, Technology and Research, Singapore","Data Storage Institute, A-STAR, Singapore#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Data Storage Institute, Agency for Science, Technology and Research, Singapore","institution_ids":["https://openalex.org/I144291393","https://openalex.org/I115228651"]},{"raw_affiliation_string":"Data Storage Institute, A-STAR, Singapore#TAB#","institution_ids":["https://openalex.org/I144291393"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055997669","display_name":"Foong Foo Kong","orcid":null},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I144291393","display_name":"Data Storage Institute","ror":"https://ror.org/03k5xes38","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I144291393"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Foong Foo Kong","raw_affiliation_strings":["Data Storage Institute, Agency for Science, Technology and Research, Singapore","Data Storage Institute, A-STAR, Singapore#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Data Storage Institute, Agency for Science, Technology and Research, Singapore","institution_ids":["https://openalex.org/I144291393","https://openalex.org/I115228651"]},{"raw_affiliation_string":"Data Storage Institute, A-STAR, Singapore#TAB#","institution_ids":["https://openalex.org/I144291393"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049847132","display_name":"A Senthil Kumar","orcid":"https://orcid.org/0000-0002-4822-8907"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I144291393","display_name":"Data Storage Institute","ror":"https://ror.org/03k5xes38","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I144291393"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"A Senthil Kumar","raw_affiliation_strings":["Data Storage Institute, Agency for Science, Technology and Research, Singapore","Data Storage Institute, A-STAR, Singapore#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Data Storage Institute, Agency for Science, Technology and Research, Singapore","institution_ids":["https://openalex.org/I144291393","https://openalex.org/I115228651"]},{"raw_affiliation_string":"Data Storage Institute, A-STAR, Singapore#TAB#","institution_ids":["https://openalex.org/I144291393"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111877757","display_name":"Kang Meng","orcid":null},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I144291393","display_name":"Data Storage Institute","ror":"https://ror.org/03k5xes38","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I144291393"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Kang Dee Meng","raw_affiliation_strings":["Data Storage Institute, Agency for Science, Technology and Research, Singapore","Data Storage Institute, A-STAR, Singapore#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Data Storage Institute, Agency for Science, Technology and Research, Singapore","institution_ids":["https://openalex.org/I144291393","https://openalex.org/I115228651"]},{"raw_affiliation_string":"Data Storage Institute, A-STAR, Singapore#TAB#","institution_ids":["https://openalex.org/I144291393"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5097829597","display_name":"Goh Wai Kit","orcid":null},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I144291393","display_name":"Data Storage Institute","ror":"https://ror.org/03k5xes38","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I144291393"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Goh Wai Kit","raw_affiliation_strings":["Data Storage Institute, Agency for Science, Technology and Research, Singapore","Data Storage Institute, A-STAR, Singapore#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Data Storage Institute, Agency for Science, Technology and Research, Singapore","institution_ids":["https://openalex.org/I144291393","https://openalex.org/I115228651"]},{"raw_affiliation_string":"Data Storage Institute, A-STAR, Singapore#TAB#","institution_ids":["https://openalex.org/I144291393"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5020367543"],"corresponding_institution_ids":["https://openalex.org/I115228651","https://openalex.org/I144291393"],"apc_list":null,"apc_paid":null,"fwci":25.8947,"has_fulltext":false,"cited_by_count":348,"citation_normalized_percentile":{"value":0.99793299,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3084","last_page":"3089"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983999729156494,"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":0.9983999729156494,"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":0.998199999332428,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/cloud-computing","display_name":"Cloud computing","score":0.8273613452911377},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8228096961975098},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7944689989089966},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6696526408195496},{"id":"https://openalex.org/keywords/software-as-a-service","display_name":"Software as a service","score":0.6262985467910767},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.6093611717224121},{"id":"https://openalex.org/keywords/service","display_name":"Service (business)","score":0.5466610789299011},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5356801152229309},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5180999636650085},{"id":"https://openalex.org/keywords/software-framework","display_name":"Software framework","score":0.48166072368621826},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46434977650642395},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.27872592210769653},{"id":"https://openalex.org/keywords/software-system","display_name":"Software system","score":0.270864874124527},{"id":"https://openalex.org/keywords/software-development","display_name":"Software development","score":0.21983283758163452},{"id":"https://openalex.org/keywords/component-based-software-engineering","display_name":"Component-based software engineering","score":0.20106413960456848}],"concepts":[{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.8273613452911377},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8228096961975098},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7944689989089966},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6696526408195496},{"id":"https://openalex.org/C175133352","wikidata":"https://www.wikidata.org/wiki/Q1254596","display_name":"Software as a service","level":4,"score":0.6262985467910767},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.6093611717224121},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.5466610789299011},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5356801152229309},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5180999636650085},{"id":"https://openalex.org/C76518257","wikidata":"https://www.wikidata.org/wiki/Q271680","display_name":"Software framework","level":5,"score":0.48166072368621826},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46434977650642395},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.27872592210769653},{"id":"https://openalex.org/C149091818","wikidata":"https://www.wikidata.org/wiki/Q2429814","display_name":"Software system","level":3,"score":0.270864874124527},{"id":"https://openalex.org/C529173508","wikidata":"https://www.wikidata.org/wiki/Q638608","display_name":"Software development","level":3,"score":0.21983283758163452},{"id":"https://openalex.org/C174683762","wikidata":"https://www.wikidata.org/wiki/Q609588","display_name":"Component-based software engineering","level":4,"score":0.20106413960456848},{"id":"https://openalex.org/C136264566","wikidata":"https://www.wikidata.org/wiki/Q159810","display_name":"Economy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2010.5509469","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509469","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1864173022","https://openalex.org/W2073874086","https://openalex.org/W2103393159","https://openalex.org/W2115286699","https://openalex.org/W2129853306","https://openalex.org/W2142924305","https://openalex.org/W2162518859","https://openalex.org/W2173213060","https://openalex.org/W2336416123","https://openalex.org/W6675456536"],"related_works":["https://openalex.org/W2131644003","https://openalex.org/W2041928733","https://openalex.org/W3217425979","https://openalex.org/W2364921833","https://openalex.org/W2385146268","https://openalex.org/W1596010778","https://openalex.org/W4310607303","https://openalex.org/W2240063513","https://openalex.org/W3010663160","https://openalex.org/W2736068468"],"abstract_inverted_index":{"We":[0,22,45,61],"propose":[1],"DAvinCi,":[2],"a":[3,26,79,82,90,111,114,144,150,158,164],"software":[4],"framework":[5,40],"that":[6],"provides":[7,149],"the":[8,29,38,47,53,63,108,120,128,171],"scalability":[9],"and":[10,68,124,131,166],"parallelism":[11],"advantages":[12],"of":[13,49,52,81,122,160],"cloud":[14,145],"computing":[15,146],"for":[16,41,127,135],"service":[17],"robots":[18,105],"in":[19,59,66,74,107],"large":[20,83],"environments.":[21],"have":[23],"implemented":[24,62],"such":[25],"system":[27],"around":[28],"Hadoop":[30,94],"cluster":[31,152],"with":[32,88,103,154],"ROS":[33],"(Robotic":[34],"Operating":[35],"system)":[36],"as":[37,56,113,163],"messaging":[39],"our":[42],"robotic":[43,161,172],"ecosystem.":[44,173],"explore":[46],"possibilities":[48],"parallelizing":[50],"some":[51],"robotics":[54],"algorithms":[55,162],"Map/Reduce":[57,67],"tasks":[58],"Hadoop.":[60],"FastSLAM":[64],"algorithm":[65],"show":[69],"how":[70],"significant":[71],"performance":[72],"gains":[73],"execution":[75],"times":[76],"to":[77,142],"build":[78],"map":[80,98,125],"area":[84],"can":[85,99],"be":[86,101],"achieved":[87],"even":[89],"very":[91],"small":[92],"eight-node":[93],"cluster.":[95],"The":[96],"global":[97],"later":[100],"shared":[102],"other":[104],"introduced":[106],"environment":[109,147],"via":[110],"Software":[112],"Service":[115],"(SaaS)":[116],"Model.":[117],"This":[118],"reduces":[119],"burden":[121],"exploration":[123],"building":[126],"new":[129],"robot":[130],"minimizes":[132],"it's":[133],"need":[134],"additional":[136],"sensors.":[137],"Our":[138],"primary":[139],"goal":[140],"is":[141],"develop":[143],"which":[148],"compute":[151],"built":[153],"commodity":[155],"hardware":[156],"exposing":[157],"suite":[159],"SaaS":[165],"share":[167],"data":[168],"co-operatively":[169],"across":[170]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":27},{"year":2020,"cited_by_count":27},{"year":2019,"cited_by_count":32},{"year":2018,"cited_by_count":40},{"year":2017,"cited_by_count":37},{"year":2016,"cited_by_count":34},{"year":2015,"cited_by_count":34},{"year":2014,"cited_by_count":29},{"year":2013,"cited_by_count":26},{"year":2012,"cited_by_count":14}],"updated_date":"2026-05-19T08:33:51.333923","created_date":"2025-10-10T00:00:00"}