{"id":"https://openalex.org/W2364883194","doi":"https://doi.org/10.1109/tmc.2015.2460240","title":"Monitoring Aquatic Debris Using Smartphone-Based Robots","display_name":"Monitoring Aquatic Debris Using Smartphone-Based Robots","publication_year":2015,"publication_date":"2015-07-23","ids":{"openalex":"https://openalex.org/W2364883194","doi":"https://doi.org/10.1109/tmc.2015.2460240","mag":"2364883194"},"language":"en","primary_location":{"id":"doi:10.1109/tmc.2015.2460240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tmc.2015.2460240","pdf_url":null,"source":{"id":"https://openalex.org/S69141925","display_name":"IEEE Transactions on Mobile Computing","issn_l":"1536-1233","issn":["1536-1233","1558-0660","2161-9875"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Transactions on Mobile Computing","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/A5100445368","display_name":"Yu Wang","orcid":"https://orcid.org/0000-0003-3511-0288"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu Wang","raw_affiliation_strings":["Department of Computer Science and Engineering, Michigan State University, East Lansing, MI 48824"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Michigan State University, East Lansing, MI 48824","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040651615","display_name":"Rui Tan","orcid":"https://orcid.org/0000-0001-8441-9973"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]},{"id":"https://openalex.org/I4210110242","display_name":"Digital Science (United States)","ror":"https://ror.org/020h4b682","country_code":"US","type":"company","lineage":["https://openalex.org/I4210110242","https://openalex.org/I4210112888","https://openalex.org/I4210118830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rui Tan","raw_affiliation_strings":["Advanced Digital Sciences Center, University of Illinois at Urbana-Champaign, Champaign, IL 61801"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Digital Sciences Center, University of Illinois at Urbana-Champaign, Champaign, IL 61801","institution_ids":["https://openalex.org/I157725225","https://openalex.org/I4210110242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072780737","display_name":"Guoliang Xing","orcid":"https://orcid.org/0000-0003-1772-7751"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guoliang Xing","raw_affiliation_strings":["Department of Computer Science and Engineering, Michigan State University, East Lansing, MI 48824"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Michigan State University, East Lansing, MI 48824","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101980558","display_name":"Jianxun Wang","orcid":"https://orcid.org/0000-0002-2119-7565"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jianxun Wang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088360388","display_name":"Xiaobo Tan","orcid":"https://orcid.org/0000-0002-5542-6266"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaobo Tan","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100409052","display_name":"Xiaoming Liu","orcid":"https://orcid.org/0000-0003-3215-8753"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaoming Liu","raw_affiliation_strings":["Department of Computer Science and Engineering, Michigan State University, East Lansing, MI 48824"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Michigan State University, East Lansing, MI 48824","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039099199","display_name":"Xiangmao Chang","orcid":"https://orcid.org/0000-0002-6246-552X"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangmao Chang","raw_affiliation_strings":["College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6737,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.85118263,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"15","issue":"6","first_page":"1412","last_page":"1426"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994999766349792,"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":0.9994999766349792,"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"}},{"id":"https://openalex.org/T12697","display_name":"Water Quality Monitoring Technologies","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2312","display_name":"Water Science and Technology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9872000217437744,"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/soar","display_name":"Soar","score":0.9027310609817505},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7826207876205444},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5144086480140686},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.500626802444458},{"id":"https://openalex.org/keywords/debris","display_name":"Debris","score":0.5005383491516113},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.456074059009552},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.4518619477748871},{"id":"https://openalex.org/keywords/android","display_name":"Android (operating system)","score":0.4301985502243042},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33181503415107727},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.11575859785079956},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08802837133407593}],"concepts":[{"id":"https://openalex.org/C17305859","wikidata":"https://www.wikidata.org/wiki/Q382944","display_name":"Soar","level":2,"score":0.9027310609817505},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7826207876205444},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5144086480140686},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.500626802444458},{"id":"https://openalex.org/C2776023875","wikidata":"https://www.wikidata.org/wiki/Q637703","display_name":"Debris","level":2,"score":0.5005383491516113},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.456074059009552},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.4518619477748871},{"id":"https://openalex.org/C557433098","wikidata":"https://www.wikidata.org/wiki/Q94","display_name":"Android (operating system)","level":2,"score":0.4301985502243042},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33181503415107727},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.11575859785079956},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08802837133407593},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tmc.2015.2460240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tmc.2015.2460240","pdf_url":null,"source":{"id":"https://openalex.org/S69141925","display_name":"IEEE Transactions on Mobile Computing","issn_l":"1536-1233","issn":["1536-1233","1558-0660","2161-9875"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Transactions on Mobile Computing","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.713.173","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.713.173","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://web.adsc.com.sg/rui.tan/pub/TMC-SOAR.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.800000011920929}],"awards":[{"id":"https://openalex.org/G1595392185","display_name":null,"funder_award_id":"IIP 1343413","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G2721705494","display_name":null,"funder_award_id":"CCF 1331852","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3174871218","display_name":null,"funder_award_id":"CNS-1218475","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G334520840","display_name":null,"funder_award_id":"61202350","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3608324566","display_name":null,"funder_award_id":"CNS-1059373","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3704588345","display_name":null,"funder_award_id":"ECCS-1446793","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5593598433","display_name":null,"funder_award_id":"IIS-0916720","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7393436206","display_name":null,"funder_award_id":"CNS-0954039","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7707116779","display_name":null,"funder_award_id":"IIS-1319602","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1555814636","https://openalex.org/W1974988574","https://openalex.org/W1977594609","https://openalex.org/W1981973124","https://openalex.org/W1987228002","https://openalex.org/W1987861037","https://openalex.org/W1995376165","https://openalex.org/W2033237147","https://openalex.org/W2038885294","https://openalex.org/W2039907425","https://openalex.org/W2043001809","https://openalex.org/W2069953037","https://openalex.org/W2086755418","https://openalex.org/W2096878708","https://openalex.org/W2100115174","https://openalex.org/W2101788345","https://openalex.org/W2102625004","https://openalex.org/W2103425728","https://openalex.org/W2120975466","https://openalex.org/W2125896931","https://openalex.org/W2130293653","https://openalex.org/W2143742289","https://openalex.org/W2145461394","https://openalex.org/W2146842868","https://openalex.org/W2163807729","https://openalex.org/W2554125638","https://openalex.org/W2625905843","https://openalex.org/W4212783130","https://openalex.org/W4235612371","https://openalex.org/W4248936881"],"related_works":["https://openalex.org/W177098144","https://openalex.org/W1972687012","https://openalex.org/W2163445345","https://openalex.org/W4250121399","https://openalex.org/W2506478959","https://openalex.org/W2583284593","https://openalex.org/W1578440997","https://openalex.org/W39838470","https://openalex.org/W1652675861","https://openalex.org/W1876769441"],"abstract_inverted_index":{"Monitoring":[0],"aquatic":[1,74],"debris":[2,42,51,63,85,128,147],"is":[3,94],"of":[4,24,132],"great":[5],"interest":[6],"to":[7,68,96,102,145],"the":[8,20,70,103,130,139],"ecosystems,":[9],"marine":[10],"life,":[11],"human":[12],"health,":[13],"and":[14,22,36,53,115,135,138],"water":[15],"transport.":[16],"This":[17],"paper":[18],"presents":[19],"design":[21],"implementation":[23],"SOAR-a":[25],"vision-based":[26],"surveillance":[27],"robot":[28],"system":[29,136],"that":[30,123],"integrates":[31],"an":[32],"off-the-shelf":[33],"Android":[34],"smartphone":[35],"a":[37,112],"gliding":[38],"robotic":[39],"fish":[40],"for":[41,62,83,105],"monitoring":[43],"in":[44,73,129],"relatively":[45],"calm":[46],"waters.":[47],"SOAR":[48,93,113,124,144],"features":[49],"real-time":[50],"detection":[52,64],"coverage-based":[54],"rotation":[55,77,140],"scheduling":[56,78,141],"algorithms.":[57],"The":[58,76,120],"image":[59],"processing":[60,100],"algorithms":[61],"are":[65],"specifically":[66],"designed":[67],"address":[69],"unique":[71],"challenges":[72],"environments.":[75],"algorithm":[79,142],"provides":[80],"effective":[81],"coverage":[82],"sporadic":[84],"arrivals":[86,148],"despite":[87],"camera's":[88],"limited":[89],"angular":[90],"view.":[91],"Moreover,":[92],"able":[95],"dynamically":[97],"offload":[98],"compute-intensive":[99],"tasks":[101],"cloud":[104],"battery":[106],"power":[107],"conservation.":[108],"We":[109],"have":[110],"implemented":[111],"prototype":[114],"conducted":[116],"extensive":[117],"experimental":[118],"evaluation.":[119],"results":[121],"show":[122],"can":[125],"accurately":[126],"detect":[127],"presence":[131],"various":[133],"environment":[134],"dynamics,":[137],"enables":[143],"capture":[146],"with":[149],"reduced":[150],"energy":[151],"consumption.":[152]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}