{"id":"https://openalex.org/W4405907561","doi":"https://doi.org/10.1109/wf-iot62078.2024.10811394","title":"DRL-based Trajectory Planning and Sensor Task Scheduling for Edge Robotics","display_name":"DRL-based Trajectory Planning and Sensor Task Scheduling for Edge Robotics","publication_year":2024,"publication_date":"2024-11-10","ids":{"openalex":"https://openalex.org/W4405907561","doi":"https://doi.org/10.1109/wf-iot62078.2024.10811394"},"language":"en","primary_location":{"id":"doi:10.1109/wf-iot62078.2024.10811394","is_oa":false,"landing_page_url":"https://doi.org/10.1109/wf-iot62078.2024.10811394","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 10th World Forum on Internet of Things (WF-IoT)","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/A5048298603","display_name":"Sirine Bouhoula","orcid":null},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Sirine Bouhoula","raw_affiliation_strings":["&#x00C9;cole de technologie sup&#x00E9;rieure (&#x00C9;TS),Department of Software and IT Engineering,Montr&#x00E9;al,Canada"],"affiliations":[{"raw_affiliation_string":"&#x00C9;cole de technologie sup&#x00E9;rieure (&#x00C9;TS),Department of Software and IT Engineering,Montr&#x00E9;al,Canada","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032708439","display_name":"Marios Avgeris","orcid":"https://orcid.org/0000-0003-4883-930X"},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Marios Avgeris","raw_affiliation_strings":["&#x00C9;cole de technologie sup&#x00E9;rieure (&#x00C9;TS),Department of Software and IT Engineering,Montr&#x00E9;al,Canada"],"affiliations":[{"raw_affiliation_string":"&#x00C9;cole de technologie sup&#x00E9;rieure (&#x00C9;TS),Department of Software and IT Engineering,Montr&#x00E9;al,Canada","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003789929","display_name":"Aris Leivadeas","orcid":"https://orcid.org/0000-0002-2996-6824"},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Aris Leivadeas","raw_affiliation_strings":["&#x00C9;cole de technologie sup&#x00E9;rieure (&#x00C9;TS),Department of Software and IT Engineering,Montr&#x00E9;al,Canada"],"affiliations":[{"raw_affiliation_string":"&#x00C9;cole de technologie sup&#x00E9;rieure (&#x00C9;TS),Department of Software and IT Engineering,Montr&#x00E9;al,Canada","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017839977","display_name":"Ioannis Lambadaris","orcid":"https://orcid.org/0000-0003-4686-9433"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ioannis Lambadaris","raw_affiliation_strings":["Carleton University,Department of Systems and Computer Engineering,Ottawa,Canada"],"affiliations":[{"raw_affiliation_string":"Carleton University,Department of Systems and Computer Engineering,Ottawa,Canada","institution_ids":["https://openalex.org/I67031392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5048298603"],"corresponding_institution_ids":["https://openalex.org/I9736820"],"apc_list":null,"apc_paid":null,"fwci":1.0463,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.78953916,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"352","last_page":"357"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9918000102043152,"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"}},"topics":[{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9918000102043152,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.982699990272522,"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":0.970300018787384,"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/computer-science","display_name":"Computer science","score":0.6818956136703491},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6778587698936462},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6328347325325012},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.5763696432113647},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5660759210586548},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5414005517959595},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5171305537223816},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45088186860084534},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.41132932901382446},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.36501163244247437},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3586190938949585},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18068084120750427},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.15725576877593994},{"id":"https://openalex.org/keywords/operations-management","display_name":"Operations management","score":0.08533942699432373}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6818956136703491},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6778587698936462},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6328347325325012},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.5763696432113647},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5660759210586548},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5414005517959595},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5171305537223816},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45088186860084534},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.41132932901382446},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36501163244247437},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3586190938949585},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18068084120750427},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.15725576877593994},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.08533942699432373},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/wf-iot62078.2024.10811394","is_oa":false,"landing_page_url":"https://doi.org/10.1109/wf-iot62078.2024.10811394","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 10th World Forum on Internet of Things (WF-IoT)","raw_type":"proceedings-article"},{"id":"pmh:oai:espace2.etsmtl.ca:30536","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402392","display_name":"Espace \u00c9TS (ETS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1341030882","host_organization_name":"Educational Testing Service","host_organization_lineage":["https://openalex.org/I1341030882"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Non \u00e9valu\u00e9 par les pairs"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2918680569","https://openalex.org/W2990619686","https://openalex.org/W3011571330","https://openalex.org/W3100628847","https://openalex.org/W3126661366","https://openalex.org/W3136033594","https://openalex.org/W3158414345","https://openalex.org/W3160386561","https://openalex.org/W3163488673","https://openalex.org/W4206561957","https://openalex.org/W4281779912","https://openalex.org/W4307364756","https://openalex.org/W4380591182","https://openalex.org/W4387251373","https://openalex.org/W4391948135"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W1508899372","https://openalex.org/W4360995134","https://openalex.org/W4248382324","https://openalex.org/W3023605104","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W2383578611"],"abstract_inverted_index":{"Mobile":[0],"Edge":[1,5],"Computing":[2],"(MEC)":[3],"and":[4,20,34,86,90,93,108,112,130,137,168],"Robotics":[6],"have":[7],"recently":[8],"emerged":[9],"as":[10],"transformative":[11],"technologies,":[12],"revolutionizing":[13],"industries":[14],"by":[15,30],"enabling":[16],"real-time":[17],"processing,":[18],"decision-making,":[19],"automation":[21],"at":[22],"the":[23,27,31,36,66,77,87,105,148,156],"network":[24],"edge.":[25],"However,":[26],"dynamicity":[28],"induced":[29],"system\u2019s":[32],"conditions":[33],"specifically":[35,160],"mobility":[37,89],"poses":[38],"a":[39,47,52,81,115],"challenge":[40],"for":[41,59],"optimally":[42],"deciding":[43],"where":[44],"to":[45,65,97,123,173],"execute":[46],"given":[48],"computational":[49,120],"task.":[50],"As":[51],"response,":[53],"we":[54,74,102,113,146],"develop":[55],"an":[56],"intelligent":[57],"algorithm":[58],"dynamic":[60],"sensor":[61,82],"task":[62,139,163],"offloading":[63,121],"tailored":[64],"unique":[67],"requirements":[68],"of":[69,127,150],"MEC-enabled":[70],"robotic":[71],"environments.":[72],"Specifically,":[73],"first":[75],"introduce":[76],"environmental":[78],"dynamics":[79],"including":[80],"task\u2019s":[83],"end-to-end":[84],"delay":[85],"robots\u2019":[88],"energy":[91,131,166],"consumption":[92,132],"provide":[94],"mathematical":[95],"formulations":[96],"model":[98],"these":[99],"dynamics.":[100],"Then,":[101],"mathematically":[103],"formulate":[104],"optimization":[106],"problem":[107],"its":[109],"MDP":[110],"counterpart":[111],"propose":[114],"Deep":[116],"Reinforcement":[117],"Learning":[118],"(DRL)-based":[119],"strategy":[122],"jointly":[124],"optimize":[125],"Quality":[126],"Service":[128],"(QoS)":[129],"through":[133],"robot":[134],"trajectory":[135],"planning":[136],"fine-grained":[138],"allocation.":[140],"Through":[141],"hand-picked":[142],"representative":[143],"simulation":[144],"scenarios,":[145],"demonstrate":[147],"superiority":[149],"our":[151],"proposed":[152],"mechanism":[153],"in":[154,161],"enhancing":[155],"overall":[157],"system":[158],"performance,":[159],"optimizing":[162],"execution,":[164],"reducing":[165],"consumption,":[167],"mitigating":[169],"transmission":[170],"delays,":[171],"compared":[172],"various":[174],"baseline":[175],"approaches.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
