{"id":"https://openalex.org/W7130074898","doi":"https://doi.org/10.1109/tsusc.2026.3666122","title":"A Framework for Sustainable Management of Autonomous Ground Robot Fleets","display_name":"A Framework for Sustainable Management of Autonomous Ground Robot Fleets","publication_year":2026,"publication_date":"2026-02-17","ids":{"openalex":"https://openalex.org/W7130074898","doi":"https://doi.org/10.1109/tsusc.2026.3666122"},"language":null,"primary_location":{"id":"doi:10.1109/tsusc.2026.3666122","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsusc.2026.3666122","pdf_url":null,"source":{"id":"https://openalex.org/S4210221417","display_name":"IEEE Transactions on Sustainable Computing","issn_l":"2377-3782","issn":["2377-3782","2377-3790"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Sustainable 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/A5071191896","display_name":"Syeda Tanjila Atik","orcid":"https://orcid.org/0000-0002-0033-0195"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Syeda Tanjila Atik","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Ohio State University, Columbus, OH, USA"],"raw_orcid":"https://orcid.org/0000-0002-0033-0195","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Ohio State University, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Daniel Grosu","orcid":"https://orcid.org/0000-0003-2340-5433"},"institutions":[{"id":"https://openalex.org/I185443292","display_name":"Wayne State University","ror":"https://ror.org/01070mq45","country_code":"US","type":"education","lineage":["https://openalex.org/I185443292"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Grosu","raw_affiliation_strings":["Department of Computer Science, Wayne State University, Detroit, USA"],"raw_orcid":"https://orcid.org/0000-0003-2340-5433","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Wayne State University, Detroit, USA","institution_ids":["https://openalex.org/I185443292"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082375623","display_name":"Marco Brocanelli","orcid":"https://orcid.org/0000-0002-3603-1402"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marco Brocanelli","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Ohio State University, Columbus, OH, USA"],"raw_orcid":"https://orcid.org/0000-0002-3603-1402","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Ohio State University, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5071191896"],"corresponding_institution_ids":["https://openalex.org/I52357470"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.31783397,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"2","first_page":"83","last_page":"97"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.2590999901294708,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.2590999901294708,"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":0.06880000233650208,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.0658000037074089,"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/task","display_name":"Task (project management)","score":0.6621999740600586},{"id":"https://openalex.org/keywords/revenue","display_name":"Revenue","score":0.6176999807357788},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5924000144004822},{"id":"https://openalex.org/keywords/battery","display_name":"Battery (electricity)","score":0.559499979019165},{"id":"https://openalex.org/keywords/resource-management","display_name":"Resource management (computing)","score":0.4237000048160553},{"id":"https://openalex.org/keywords/online-algorithm","display_name":"Online algorithm","score":0.4212000072002411},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.3993000090122223},{"id":"https://openalex.org/keywords/budget-constraint","display_name":"Budget constraint","score":0.39430001378059387}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6621999740600586},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6323000192642212},{"id":"https://openalex.org/C195487862","wikidata":"https://www.wikidata.org/wiki/Q850210","display_name":"Revenue","level":2,"score":0.6176999807357788},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5924000144004822},{"id":"https://openalex.org/C555008776","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery (electricity)","level":3,"score":0.559499979019165},{"id":"https://openalex.org/C2780609101","wikidata":"https://www.wikidata.org/wiki/Q17156588","display_name":"Resource management (computing)","level":2,"score":0.4237000048160553},{"id":"https://openalex.org/C196921405","wikidata":"https://www.wikidata.org/wiki/Q786431","display_name":"Online algorithm","level":2,"score":0.4212000072002411},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.3993000090122223},{"id":"https://openalex.org/C8505890","wikidata":"https://www.wikidata.org/wiki/Q605095","display_name":"Budget constraint","level":2,"score":0.39430001378059387},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.38830000162124634},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.38199999928474426},{"id":"https://openalex.org/C51823790","wikidata":"https://www.wikidata.org/wiki/Q504353","display_name":"Greedy algorithm","level":2,"score":0.37880000472068787},{"id":"https://openalex.org/C29202148","wikidata":"https://www.wikidata.org/wiki/Q287260","display_name":"Resource allocation","level":2,"score":0.35040000081062317},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.34619998931884766},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.3181000053882599},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.303600013256073},{"id":"https://openalex.org/C2781386248","wikidata":"https://www.wikidata.org/wiki/Q11898700","display_name":"Revenue management","level":3,"score":0.29409998655319214},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.29010000824928284},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2890999913215637},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.2759999930858612},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27549999952316284},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2750000059604645},{"id":"https://openalex.org/C2780102126","wikidata":"https://www.wikidata.org/wiki/Q10928179","display_name":"Online and offline","level":2,"score":0.26350000500679016},{"id":"https://openalex.org/C91765299","wikidata":"https://www.wikidata.org/wiki/Q3424292","display_name":"Lagrangian relaxation","level":2,"score":0.2590999901294708},{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.251800000667572}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsusc.2026.3666122","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsusc.2026.3666122","pdf_url":null,"source":{"id":"https://openalex.org/S4210221417","display_name":"IEEE Transactions on Sustainable Computing","issn_l":"2377-3782","issn":["2377-3782","2377-3790"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Sustainable Computing","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.453297883272171}],"awards":[{"id":"https://openalex.org/G3939971447","display_name":null,"funder_award_id":"CNS-1948365","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Ensuring":[0],"low":[1],"battery":[2,52,98,172],"degradation":[3],"in":[4,11],"Autonomous":[5],"Ground":[6],"Robot":[7],"(AGR)":[8],"fleets":[9],"operating":[10],"online":[12,86],"environments":[13],"(e.g.,":[14],"delivery":[15],"services)":[16],"is":[17],"essential":[18],"for":[19,33,51,77],"enhancing":[20],"their":[21],"long-term":[22],"sustainability.":[23],"However,":[24],"most":[25],"existing":[26],"studies":[27],"either":[28],"rely":[29],"on":[30,40,158],"offline":[31],"methods\u2014unsuitable":[32],"scenarios":[34],"requiring":[35],"real-time":[36],"decisions\u2014or":[37],"focus":[38],"solely":[39],"maximizing":[41,55],"task":[42,87,148],"allocation,":[43],"resource":[44],"utilization,":[45],"or":[46],"revenue,":[47],"with":[48,136,178],"limited":[49],"consideration":[50],"health.":[53],"Additionally,":[54],"fleet":[56],"sustainability":[57],"requires":[58],"bounded":[59],"relative":[60,106],"revenue":[61,95,107,180],"losses":[62],"from":[63],"unassigned":[64],"tasks":[65],"within":[66],"a":[67,159],"user-defined":[68],"acceptable":[69],"limit":[70],"to":[71,103,176],"make":[72],"it":[73],"an":[74,85],"attractive":[75],"option":[76],"industry.":[78],"To":[79],"address":[80],"these":[81],"limitations,":[82],"we":[83],"propose":[84],"and":[88,97,123,130],"charge":[89],"allocation":[90],"framework":[91,110,169],"that":[92,167],"jointly":[93],"optimizes":[94],"generation":[96],"lifespan,":[99],"while":[100],"allowing":[101],"users":[102],"explicitly":[104],"constrain":[105],"losses.":[108],"The":[109],"includes":[111],"three":[112],"event-driven":[113],"algorithms:":[114],"BTC-M,":[115],"which":[116,132],"computes":[117],"optimal":[118],"decisions":[119],"at":[120],"each":[121],"event,":[122],"two":[124],"computationally":[125],"efficient":[126],"greedy":[127],"variants,":[128],"BTC-G":[129],"BTC-WG,":[131],"provide":[133],"sub-optimal":[134],"solutions":[135],"reduced":[137],"overhead.":[138],"We":[139],"evaluate":[140],"the":[141],"performance":[142],"of":[143,152],"our":[144,168],"approach":[145],"under":[146],"different":[147],"arrival":[149],"distributions":[150],"representative":[151],"real-world":[153],"applications.":[154],"Simulation":[155],"results":[156],"based":[157],"real":[160],"AGR,":[161],"compared":[162],"against":[163],"multiple":[164],"baselines,":[165],"demonstrate":[166],"can":[170],"extend":[171],"lifespan":[173],"by":[174],"up":[175],"19%":[177],"minimal":[179],"loss.":[181]},"counts_by_year":[],"updated_date":"2026-04-04T06:10:10.580331","created_date":"2026-02-18T00:00:00"}