{"id":"https://openalex.org/W3184369898","doi":"https://doi.org/10.1145/3477006","title":"SAGE: A Split-Architecture Methodology for Efficient End-to-End Autonomous Vehicle Control","display_name":"SAGE: A Split-Architecture Methodology for Efficient End-to-End Autonomous Vehicle Control","publication_year":2021,"publication_date":"2021-09-17","ids":{"openalex":"https://openalex.org/W3184369898","doi":"https://doi.org/10.1145/3477006","mag":"3184369898"},"language":"en","primary_location":{"id":"doi:10.1145/3477006","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3477006","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3477006","source":{"id":"https://openalex.org/S136160450","display_name":"ACM Transactions on Embedded Computing Systems","issn_l":"1539-9087","issn":["1539-9087","1558-3465"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Embedded Computing Systems","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3477006","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077091228","display_name":"Arnav Vaibhav Malawade","orcid":"https://orcid.org/0000-0002-4974-1622"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arnav Malawade","raw_affiliation_strings":["University of California Irvine, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California Irvine, USA","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045322212","display_name":"Mohanad Odema","orcid":"https://orcid.org/0000-0002-0828-949X"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohanad Odema","raw_affiliation_strings":["University of California Irvine, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California Irvine, USA","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006032040","display_name":"Sebastien Lajeunesse-degroot","orcid":null},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastien Lajeunesse-degroot","raw_affiliation_strings":["University of California Irvine, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California Irvine, USA","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055814180","display_name":"Mohammad Abdullah Al Faruque","orcid":"https://orcid.org/0000-0002-5390-0497"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohammad Abdullah Al Faruque","raw_affiliation_strings":["University of California Irvine, USA"],"raw_orcid":"https://orcid.org/0000-0002-5390-0497","affiliations":[{"raw_affiliation_string":"University of California Irvine, USA","institution_ids":["https://openalex.org/I204250578"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204250578"],"apc_list":null,"apc_paid":null,"fwci":2.2788,"has_fulltext":true,"cited_by_count":22,"citation_normalized_percentile":{"value":0.88473129,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"20","issue":"5s","first_page":"1","last_page":"22"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10273","display_name":"IoT and Edge/Fog Computing","score":0.9973000288009644,"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/T10273","display_name":"IoT and Edge/Fog Computing","score":0.9973000288009644,"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/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T13553","display_name":"Age of Information Optimization","score":0.9908999800682068,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7397295236587524},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.530274510383606},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5175380110740662},{"id":"https://openalex.org/keywords/edge-computing","display_name":"Edge computing","score":0.5006885528564453},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.4962959885597229},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.46099168062210083},{"id":"https://openalex.org/keywords/edge-device","display_name":"Edge device","score":0.44645631313323975},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.44342154264450073},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.43830686807632446},{"id":"https://openalex.org/keywords/upload","display_name":"Upload","score":0.41314786672592163},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20153498649597168},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1470135748386383},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.13717931509017944},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.10854360461235046}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7397295236587524},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.530274510383606},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5175380110740662},{"id":"https://openalex.org/C2778456923","wikidata":"https://www.wikidata.org/wiki/Q5337692","display_name":"Edge computing","level":3,"score":0.5006885528564453},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.4962959885597229},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.46099168062210083},{"id":"https://openalex.org/C138236772","wikidata":"https://www.wikidata.org/wiki/Q25098575","display_name":"Edge device","level":3,"score":0.44645631313323975},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.44342154264450073},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.43830686807632446},{"id":"https://openalex.org/C71901391","wikidata":"https://www.wikidata.org/wiki/Q7126699","display_name":"Upload","level":2,"score":0.41314786672592163},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20153498649597168},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1470135748386383},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.13717931509017944},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.10854360461235046}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3477006","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3477006","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3477006","source":{"id":"https://openalex.org/S136160450","display_name":"ACM Transactions on Embedded Computing Systems","issn_l":"1539-9087","issn":["1539-9087","1558-3465"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Embedded Computing Systems","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2107.10895","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.10895","pdf_url":"https://arxiv.org/pdf/2107.10895","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"}],"best_oa_location":{"id":"doi:10.1145/3477006","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3477006","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3477006","source":{"id":"https://openalex.org/S136160450","display_name":"ACM Transactions on Embedded Computing Systems","issn_l":"1539-9087","issn":["1539-9087","1558-3465"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Embedded Computing Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8799999952316284}],"awards":[{"id":"https://openalex.org/G123980022","display_name":"CPS: TTP Option: Medium: Collaborative Research: Low-Cost, High-Throughput, Cyber-Physical Synthesis of Encrypted DNA","funder_award_id":"1739503","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6683306111","display_name":null,"funder_award_id":"CMMI-1739503","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/F4320337391","display_name":"Division of Civil, Mechanical and Manufacturing Innovation","ror":"https://ror.org/028yd4c30"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3184369898.pdf","grobid_xml":"https://content.openalex.org/works/W3184369898.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W1821462560","https://openalex.org/W1986141527","https://openalex.org/W2112553135","https://openalex.org/W2129636357","https://openalex.org/W2134797427","https://openalex.org/W2194775991","https://openalex.org/W2300770211","https://openalex.org/W2305446084","https://openalex.org/W2415234561","https://openalex.org/W2511425482","https://openalex.org/W2559231463","https://openalex.org/W2605258629","https://openalex.org/W2739611732","https://openalex.org/W2791175987","https://openalex.org/W2792812842","https://openalex.org/W2796583516","https://openalex.org/W2845944010","https://openalex.org/W2887286974","https://openalex.org/W2890235476","https://openalex.org/W2905685817","https://openalex.org/W2962867954","https://openalex.org/W2962894046","https://openalex.org/W2979332426","https://openalex.org/W2980150456","https://openalex.org/W2999066514","https://openalex.org/W3000192862","https://openalex.org/W3004127093","https://openalex.org/W3008467020","https://openalex.org/W3009593063","https://openalex.org/W3011462663","https://openalex.org/W3035382196","https://openalex.org/W3045259134","https://openalex.org/W3048717007","https://openalex.org/W3107847925","https://openalex.org/W3160403640","https://openalex.org/W3186541398","https://openalex.org/W3211718078","https://openalex.org/W4236099117"],"related_works":["https://openalex.org/W3116709161","https://openalex.org/W4322761281","https://openalex.org/W4238233472","https://openalex.org/W4313526662","https://openalex.org/W3111395152","https://openalex.org/W4312996489","https://openalex.org/W3106131444","https://openalex.org/W3216099748","https://openalex.org/W4205963435","https://openalex.org/W4313463379"],"abstract_inverted_index":{"Autonomous":[0],"vehicles":[1],"(AV)":[2],"are":[3],"expected":[4],"to":[5,31,41,77,80,97,107,169,209,212],"revolutionize":[6],"transportation":[7],"and":[8,27,55,131,142,157,165,184,196],"improve":[9],"road":[10],"safety":[11],"significantly.":[12],"However,":[13],"these":[14],"benefits":[15],"do":[16],"not":[17],"come":[18],"without":[19],"cost;":[20],"AVs":[21],"require":[22],"large":[23],"Deep-Learning":[24],"(DL)":[25],"models":[26,156],"powerful":[28],"hardware":[29],"platforms":[30],"operate":[32],"reliably":[33],"in":[34,105,119],"real-time,":[35],"requiring":[36],"between":[37],"several":[38],"hundred":[39],"watts":[40],"one":[42,190,193],"kilowatt":[43],"of":[44,74,113,154,179],"power.":[45],"This":[46],"power":[47],"consumption":[48,175],"can":[49],"dramatically":[50],"reduce":[51],"vehicles\u2019":[52],"driving":[53],"range":[54,153],"affect":[56],"emissions.":[57],"To":[58],"address":[59],"this":[60],"problem,":[61],"we":[62,91],"propose":[63],"SAGE:":[64],"a":[65,151],"methodology":[66],"for":[67,150,186],"selectively":[68],"offloading":[69,114,146],"the":[70,78,102,109,120,138],"key":[71],"energy-consuming":[72],"modules":[73],"DL":[75,103,155],"architectures":[76],"cloud":[79],"optimize":[81],"edge,":[82,140],"energy":[83,174],"usage":[84],"while":[85],"meeting":[86],"real-time":[87],"latency":[88],"constraints.":[89],"Furthermore,":[90],"leverage":[92],"Head":[93],"Network":[94],"Distillation":[95],"(HND)":[96],"introduce":[98],"efficient":[99],"bottlenecks":[100],"within":[101],"architecture":[104],"order":[106],"minimize":[108],"network":[110],"overhead":[111],"costs":[112],"with":[115,189],"almost":[116],"no":[117],"degradation":[118],"model\u2019s":[121],"performance.":[122],"We":[123],"evaluate":[124],"SAGE":[125,172,201],"using":[126],"an":[127,132,177,187],"Nvidia":[128,134],"Jetson":[129],"TX2":[130],"industry-standard":[133],"Drive":[135],"PX2":[136],"as":[137],"AV":[139,188],"devices":[141],"demonstrate":[143],"that":[144],"our":[145],"strategy":[147],"is":[148],"practical":[149],"wide":[152],"internet":[158],"connection":[159],"bandwidths":[160],"on":[161],"3G,":[162],"4G":[163],"LTE,":[164],"WiFi":[166],"technologies.":[167],"Compared":[168],"edge-only":[170],"computation,":[171],"reduces":[173,203],"by":[176,207],"average":[178],"36.13%":[180],",":[181,183],"47.07%":[182],"55.66%":[185],"low-resolution":[191],"camera,":[192,195],"high-resolution":[194,198],"three":[197],"cameras,":[199],"respectively.":[200],"also":[202],"upload":[204],"data":[205],"size":[206],"up":[208],"98.40%":[210],"compared":[211],"direct":[213],"camera":[214],"offloading.":[215]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}