{"id":"https://openalex.org/W4413145266","doi":"https://doi.org/10.1109/sas65169.2025.11105118","title":"Embedded Computing for Environmental Sensing and Mapping in Agricultural Robots: A Power and Performance Analysis","display_name":"Embedded Computing for Environmental Sensing and Mapping in Agricultural Robots: A Power and Performance Analysis","publication_year":2025,"publication_date":"2025-07-08","ids":{"openalex":"https://openalex.org/W4413145266","doi":"https://doi.org/10.1109/sas65169.2025.11105118"},"language":"en","primary_location":{"id":"doi:10.1109/sas65169.2025.11105118","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sas65169.2025.11105118","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE Sensors Applications Symposium (SAS)","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/A5032437820","display_name":"Andrew Michael Roberts","orcid":"https://orcid.org/0000-0002-2684-5306"},"institutions":[{"id":"https://openalex.org/I84884186","display_name":"Newcastle University","ror":"https://ror.org/01kj2bm70","country_code":"GB","type":"education","lineage":["https://openalex.org/I84884186"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andrew M. Roberts","raw_affiliation_strings":["Newcastle University,School of Computing,Newcastle-Upon-Tyne,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Newcastle University,School of Computing,Newcastle-Upon-Tyne,UK","institution_ids":["https://openalex.org/I84884186"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081846845","display_name":"Tzer-Nan Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I84884186","display_name":"Newcastle University","ror":"https://ror.org/01kj2bm70","country_code":"GB","type":"education","lineage":["https://openalex.org/I84884186"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tzer-Nan Lin","raw_affiliation_strings":["Newcastle University,School of Computing,Newcastle-Upon-Tyne,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Newcastle University,School of Computing,Newcastle-Upon-Tyne,UK","institution_ids":["https://openalex.org/I84884186"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055783706","display_name":"Christopher J. Holder","orcid":"https://orcid.org/0000-0002-2277-6104"},"institutions":[{"id":"https://openalex.org/I84884186","display_name":"Newcastle University","ror":"https://ror.org/01kj2bm70","country_code":"GB","type":"education","lineage":["https://openalex.org/I84884186"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Christopher J. Holder","raw_affiliation_strings":["Newcastle University,School of Computing,Newcastle-Upon-Tyne,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Newcastle University,School of Computing,Newcastle-Upon-Tyne,UK","institution_ids":["https://openalex.org/I84884186"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074156322","display_name":"Ankush Prashar","orcid":"https://orcid.org/0000-0001-6977-4774"},"institutions":[{"id":"https://openalex.org/I84884186","display_name":"Newcastle University","ror":"https://ror.org/01kj2bm70","country_code":"GB","type":"education","lineage":["https://openalex.org/I84884186"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ankush Prashar","raw_affiliation_strings":["Newcastle University,School of Natural & Environmental Sciences,Newcastle-Upon-Tyne,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Newcastle University,School of Natural & Environmental Sciences,Newcastle-Upon-Tyne,UK","institution_ids":["https://openalex.org/I84884186"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Barnali Das","orcid":null},"institutions":[{"id":"https://openalex.org/I5728261","display_name":"University of Sunderland","ror":"https://ror.org/04p55hr04","country_code":"GB","type":"education","lineage":["https://openalex.org/I5728261"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Barnali Das","raw_affiliation_strings":["University of Sunderland,School of Computer Science & Engineering,Sunderland,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Sunderland,School of Computer Science & Engineering,Sunderland,UK","institution_ids":["https://openalex.org/I5728261"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088113932","display_name":"Deepayan Bhowmik","orcid":"https://orcid.org/0000-0003-1762-1578"},"institutions":[{"id":"https://openalex.org/I84884186","display_name":"Newcastle University","ror":"https://ror.org/01kj2bm70","country_code":"GB","type":"education","lineage":["https://openalex.org/I84884186"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Deepayan Bhowmik","raw_affiliation_strings":["Newcastle University,School of Computing,Newcastle-Upon-Tyne,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Newcastle University,School of Computing,Newcastle-Upon-Tyne,UK","institution_ids":["https://openalex.org/I84884186"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13215347,"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":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9266999959945679,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9266999959945679,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6622838973999023},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6169811487197876},{"id":"https://openalex.org/keywords/environmental-analysis","display_name":"Environmental analysis","score":0.5336419343948364},{"id":"https://openalex.org/keywords/agriculture","display_name":"Agriculture","score":0.47619664669036865},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.46685272455215454},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21381589770317078},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07433831691741943}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6622838973999023},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6169811487197876},{"id":"https://openalex.org/C18276189","wikidata":"https://www.wikidata.org/wiki/Q2138286","display_name":"Environmental analysis","level":2,"score":0.5336419343948364},{"id":"https://openalex.org/C118518473","wikidata":"https://www.wikidata.org/wiki/Q11451","display_name":"Agriculture","level":2,"score":0.47619664669036865},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.46685272455215454},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21381589770317078},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07433831691741943},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/sas65169.2025.11105118","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sas65169.2025.11105118","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE Sensors Applications Symposium (SAS)","raw_type":"proceedings-article"},{"id":"pmh:oai:sure.sunderland.ac.uk:19798","is_oa":false,"landing_page_url":"http://sure.sunderland.ac.uk/view/creators/Roberts=3AAndrew_M=2E=3A=3A.html>,","pdf_url":null,"source":{"id":"https://openalex.org/S4306402295","display_name":"Sunderland Repository (University of Sunderland)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I5728261","host_organization_name":"University of Sunderland","host_organization_lineage":["https://openalex.org/I5728261"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Book Section"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger","score":0.8600000143051147}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"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":{"Recent":[0],"trends":[1],"in":[2,13,33,47,66,80,84,133,246,286],"agriculture":[3],"show":[4],"decreasing":[5],"availability":[6],"of":[7,59,69,93,110,115,129,135,161,177,211,223],"agricultural":[8,22,82],"workers,":[9],"coupled":[10],"with":[11,90,220],"reduction":[12],"productivity":[14],"and":[15,76,102,188,208,238,279],"yield":[16],"due":[17],"to":[18,28,35,43,54,64,86,181,226,255],"climate":[19],"change.":[20],"Autonomous":[21],"robots":[23],"are":[24],"a":[25,120,148,162,169,250,276],"suitable":[26],"technology":[27],"counter":[29],"these":[30],"issues,":[31],"but":[32],"order":[34,85],"gain":[36],"widespread":[37],"use":[38],"they":[39],"must":[40],"be":[41,216,265],"able":[42,53],"effectively":[44],"localise":[45],"themselves":[46],"complex":[48],"rural":[49],"environments,":[50],"whilst":[51],"being":[52],"run":[55],"for":[56,267,282],"long":[57],"periods":[58],"time.":[60],"This":[61,200,228,242],"paper":[62],"aims":[63],"aid":[65],"the":[67,81,111,126,178,192,197,204,212,221,272,287],"selection":[68],"Simultaneous":[70],"Localisation":[71],"And":[72],"Mapping":[73],"(SLAM)":[74],"variants":[75,213],"parameters":[77,180,273],"when":[78],"used":[79],"field":[83],"maximise":[87],"range/operational":[88],"time":[89,285],"minimal":[91],"sacrifice":[92],"effectiveness":[94],"as":[95],"evaluated":[96],"by":[97,234],"Percentage":[98],"Tracked":[99],"Path":[100],"(PTP)":[101],"Average":[103],"Trajectory":[104],"Error":[105],"(ATE).":[106],"We":[107],"investigate":[108],"some":[109],"most":[112,205],"promising":[113],"applications":[114],"ORB-SLAM":[116,157],"algorithms,":[117],"running":[118],"on":[119,168,191,230,236,240,271],"low-resource":[121,171],"system,":[122],"providing":[123],"insights":[124],"into":[125],"energy":[127],"costs":[128],"increased":[130],"real-time":[131,268],"performance":[132,210,261],"terms":[134],"Frames":[136],"Per":[137,151],"Second":[138],"(FPS)":[139],"achieved":[140],"through":[141],"varying":[142],"SLAM":[143,159,281],"parameters.":[144,199],"Our":[145],"contributions":[146],"are:":[147],"full":[149],"Energy":[150],"Frame":[152],"(EPF)":[153],"analysis":[154,160],"over":[155],"all":[156],"parameters;":[158],"benchmark":[163],"LFSD":[164],"dataset,":[165],"entirely":[166],"performed":[167],"common":[170],"robotics":[172],"computer,":[173],"Jetson":[174],"Nano;":[175],"evaluation":[176],"determined":[179,198],"achieve":[182],"highest":[183],"PTP":[184],"at":[185],"lowest":[186],"EPF;":[187],"live":[189,247],"trials":[190],"Turtlebot":[193],"robotic":[194],"platform":[195],"using":[196,218],"work":[201],"demonstrates":[202],"that":[203],"power":[206,260,263],"efficient":[207],"accurate":[209,278],"tested":[214],"can":[215,264],"attained":[217],"ORB-SLAM3":[219],"number":[222],"features":[224],"reduced":[225],"600.":[227],"improved":[229],"default":[231],"parameter":[232],"operation":[233,284],"20%":[235],"EPF":[237,253],"8.21%":[239],"PTP.":[241],"outcome":[243],"was":[244],"corroborated":[245],"testing":[248],"achieving":[249],"similar":[251],"14.4%":[252],"drop":[254],"321.83\u00b146.14mJ.":[256],"Therefore,":[257],"utilising":[258],"our":[259],"evaluation,":[262],"optimised":[266],"usage":[269],"based":[270],"selection,":[274],"enabling":[275],"more":[277],"power-efficient":[280],"longer":[283],"field.":[288]},"counts_by_year":[],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}