{"id":"https://openalex.org/W4404101402","doi":"https://doi.org/10.1109/tro.2024.3492345","title":"A Coordinated Approach to Control Mechanical and Computing Resources in Mobile Robots","display_name":"A Coordinated Approach to Control Mechanical and Computing Resources in Mobile Robots","publication_year":2024,"publication_date":"2024-11-06","ids":{"openalex":"https://openalex.org/W4404101402","doi":"https://doi.org/10.1109/tro.2024.3492345"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3492345","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2024.3492345","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/tro.2024.3492345","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049467903","display_name":"Sajad Shahsavari","orcid":"https://orcid.org/0000-0003-3754-1743"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Sajad Shahsavari","raw_affiliation_strings":["Autonomous Systems Laboratory, Department of Computing, University of Turku, Turku, Finland"],"raw_orcid":"https://orcid.org/0000-0003-3754-1743","affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Department of Computing, University of Turku, Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014977873","display_name":"Mohammad-Hashem Haghbayan","orcid":"https://orcid.org/0000-0001-6583-4418"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Hashem Haghbayan","raw_affiliation_strings":["Autonomous Systems Laboratory, Department of Computing, University of Turku, Turku, Finland"],"raw_orcid":"https://orcid.org/0000-0001-6583-4418","affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Department of Computing, University of Turku, Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031451381","display_name":"Antonio Miele","orcid":"https://orcid.org/0000-0003-3197-0723"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Miele","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy","Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Italy"],"raw_orcid":"https://orcid.org/0000-0003-3197-0723","affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031675737","display_name":"Eero Immonen","orcid":"https://orcid.org/0000-0001-5690-287X"},"institutions":[{"id":"https://openalex.org/I16231767","display_name":"Turku University of Applied Sciences","ror":"https://ror.org/04s0yt949","country_code":"FI","type":"education","lineage":["https://openalex.org/I16231767"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Eero Immonen","raw_affiliation_strings":["Turku University of Applied Sciences, Turku, Finland","Turku-AMK, Finland"],"raw_orcid":"https://orcid.org/0000-0001-5690-287X","affiliations":[{"raw_affiliation_string":"Turku University of Applied Sciences, Turku, Finland","institution_ids":["https://openalex.org/I16231767"]},{"raw_affiliation_string":"Turku-AMK, Finland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075314597","display_name":"Juha Plosila","orcid":"https://orcid.org/0000-0003-4018-5495"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Juha Plosila","raw_affiliation_strings":["Autonomous Systems Laboratory, Department of Computing, University of Turku, Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Department of Computing, University of Turku, Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.561,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.84761671,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"41","issue":null,"first_page":"347","last_page":"363"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10715","display_name":"Distributed and Parallel Computing Systems","score":0.9697999954223633,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10715","display_name":"Distributed and Parallel Computing Systems","score":0.9697999954223633,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9686999917030334,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9639999866485596,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7565438151359558},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5960536599159241},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5715951919555664},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4415542483329773},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.43233931064605713},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4218497574329376},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3323057293891907},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32278236746788025},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3222609758377075},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28875064849853516}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7565438151359558},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5960536599159241},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5715951919555664},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4415542483329773},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.43233931064605713},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4218497574329376},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3323057293891907},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32278236746788025},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3222609758377075},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28875064849853516}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2024.3492345","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2024.3492345","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:www.utupub.fi:10024/192115","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/document/10746315","pdf_url":"https://www.utupub.fi/bitstream/10024/192115/1/A_Coordinated_Approach_to_Control_Mechanical_and_Computing_Resources_in_Mobile_Robots.pdf","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null},{"id":"pmh:oai:re.public.polimi.it:11311/1277838","is_oa":true,"landing_page_url":"https://hdl.handle.net/11311/1277838","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/tro.2024.3492345","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2024.3492345","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W206948248","https://openalex.org/W1967950499","https://openalex.org/W2027698629","https://openalex.org/W2034150159","https://openalex.org/W2062340283","https://openalex.org/W2079219249","https://openalex.org/W2082581695","https://openalex.org/W2104449353","https://openalex.org/W2108434160","https://openalex.org/W2133495469","https://openalex.org/W2139043285","https://openalex.org/W2346924214","https://openalex.org/W2738578044","https://openalex.org/W2756215207","https://openalex.org/W2945422726","https://openalex.org/W2962747795","https://openalex.org/W2964023906","https://openalex.org/W2964160927","https://openalex.org/W2968450516","https://openalex.org/W2988952354","https://openalex.org/W2998859698","https://openalex.org/W3034546171","https://openalex.org/W3040838455","https://openalex.org/W3110334352","https://openalex.org/W3115819840","https://openalex.org/W3120581161","https://openalex.org/W3137281211","https://openalex.org/W3155372687","https://openalex.org/W3157224725","https://openalex.org/W3196651253","https://openalex.org/W4223622809","https://openalex.org/W4237163656","https://openalex.org/W4299903740","https://openalex.org/W4312159355","https://openalex.org/W4319934748","https://openalex.org/W4380358567","https://openalex.org/W6756486208","https://openalex.org/W6757970911","https://openalex.org/W6778693825"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2171912896","https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762"],"abstract_inverted_index":{"Energy":[0],"management":[1,73],"of":[2,11,41,43,74,128],"mechanical":[3,75,124,138],"and":[4,29,49,63,76,125,132,140],"cyber":[5],"parts":[6,46,127],"in":[7,56,84,108,160],"mobile":[8,130],"robots":[9],"consists":[10],"two":[12,20,45],"processes":[13,21],"operating":[14],"concurrently":[15],"at":[16,145],"runtime.":[17,146],"Both":[18],"the":[19,25,44,118,123,136,161,167],"can":[22],"significantly":[23],"improve":[24],"robots'":[26],"battery":[27],"lifetime":[28],"further":[30],"extend":[31],"mission":[32],"time.":[33],"In":[34,66],"each":[35],"process,":[36],"information":[37],"on":[38,134,150],"energy":[39,105,120,163],"consumption":[40,121,164],"one":[42],"is":[47,99],"captured":[48],"analyzed":[50],"to":[51,89,116,157,166],"manipulate":[52],"various":[53],"mechanical/computational":[54],"actuators":[55],"a":[57,93,95,103,129,151],"robot,":[58,131],"such":[59],"as":[60,92],"motor":[61],"speed":[62,139],"CPU":[64,141],"voltage/frequency.":[65],"this":[67],"article,":[68],"we":[69],"show":[70,155],"that":[71],"considering":[72],"computational":[77,126],"segments":[78],"separately":[79],"does":[80],"not":[81],"necessarily":[82],"result":[83],"an":[85],"energy-optimal":[86],"solution":[87],"due":[88],"their":[90],"co-dependence;":[91],"consequence,":[94],"runtime":[96],"co-management":[97],"scheme":[98],"required.":[100],"We":[101],"propose":[102],"proactive":[104],"optimization":[106],"methodology":[107],"which":[109],"dynamically":[110],"trained":[111],"internal":[112],"models":[113],"are":[114,143],"utilized":[115],"predict":[117],"future":[119],"for":[122],"based":[133],"that,":[135],"optimal":[137],"voltage/frequency":[142],"determined":[144],"The":[147],"experimental":[148],"results":[149],"ground":[152],"wheeled":[153],"robot":[154],"up":[156],"36.34%":[158],"reduction":[159],"overall":[162],"compared":[165],"state-of-the-art":[168],"methods.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
