{"id":"https://openalex.org/W4213334549","doi":"https://doi.org/10.1145/3511210","title":"The Role of Compute in Autonomous Micro Aerial Vehicles: Optimizing for Mission Time and Energy Efficiency","display_name":"The Role of Compute in Autonomous Micro Aerial Vehicles: Optimizing for Mission Time and Energy Efficiency","publication_year":2021,"publication_date":"2021-11-30","ids":{"openalex":"https://openalex.org/W4213334549","doi":"https://doi.org/10.1145/3511210"},"language":"en","primary_location":{"id":"doi:10.1145/3511210","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3511210","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3511210","source":{"id":"https://openalex.org/S193109227","display_name":"ACM Transactions on Computer Systems","issn_l":"0734-2071","issn":["0734-2071","1557-7333"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Computer Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3511210","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089709128","display_name":"Behzad Boroujerdian","orcid":"https://orcid.org/0000-0003-3655-266X"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Behzad Boroujerdian","raw_affiliation_strings":["University of Texas at Austin"],"affiliations":[{"raw_affiliation_string":"University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015017700","display_name":"Hasan Genc","orcid":"https://orcid.org/0000-0001-8596-6135"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hasan Genc","raw_affiliation_strings":["University of Texas at Austin and University of California Berkeley"],"affiliations":[{"raw_affiliation_string":"University of Texas at Austin and University of California Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058825852","display_name":"Srivatsan Krishnan","orcid":"https://orcid.org/0000-0002-7148-5389"},"institutions":[{"id":"https://openalex.org/I2801851002","display_name":"Harvard University Press","ror":"https://ror.org/006v7bf86","country_code":"US","type":"other","lineage":["https://openalex.org/I136199984","https://openalex.org/I2801851002"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Srivatsan Krishnan","raw_affiliation_strings":["Harvard University"],"affiliations":[{"raw_affiliation_string":"Harvard University","institution_ids":["https://openalex.org/I2801851002"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083362639","display_name":"Bardienus P. Duisterhof","orcid":null},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]},{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL","US"],"is_corresponding":false,"raw_author_name":"Bardienus Pieter Duisterhof","raw_affiliation_strings":["Harvard University and Delft University of Technology"],"affiliations":[{"raw_affiliation_string":"Harvard University and Delft University of Technology","institution_ids":["https://openalex.org/I98358874","https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019062457","display_name":"Brian Plancher","orcid":"https://orcid.org/0000-0002-0078-3653"},"institutions":[{"id":"https://openalex.org/I2801851002","display_name":"Harvard University Press","ror":"https://ror.org/006v7bf86","country_code":"US","type":"other","lineage":["https://openalex.org/I136199984","https://openalex.org/I2801851002"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian Plancher","raw_affiliation_strings":["Harvard University"],"affiliations":[{"raw_affiliation_string":"Harvard University","institution_ids":["https://openalex.org/I2801851002"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069233006","display_name":"Kayvan Mansoorshahi","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kayvan Mansoorshahi","raw_affiliation_strings":["University of Texas at Austin"],"affiliations":[{"raw_affiliation_string":"University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059960749","display_name":"Marcelino M. de Almeida","orcid":"https://orcid.org/0000-0003-1960-1634"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marcelino Almeida","raw_affiliation_strings":["University of Texas at Austin"],"affiliations":[{"raw_affiliation_string":"University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079165928","display_name":"Wenzhi Cui","orcid":"https://orcid.org/0000-0002-3724-9227"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenzhi Cui","raw_affiliation_strings":["University of Texas at Austin"],"affiliations":[{"raw_affiliation_string":"University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002971435","display_name":"Aleksandra Faust","orcid":"https://orcid.org/0000-0002-3268-8685"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aleksandra Faust","raw_affiliation_strings":["Robotics at Google"],"affiliations":[{"raw_affiliation_string":"Robotics at Google","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000635267","display_name":"Vijay Janapa Reddi","orcid":"https://orcid.org/0000-0002-5259-7721"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]},{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Janapa Reddi","raw_affiliation_strings":["Harvard University and University of Texas at Austin","Harvard University and The University of Texas at Austin https://github.com/harvard-edge/MAVBench"],"affiliations":[{"raw_affiliation_string":"Harvard University and University of Texas at Austin","institution_ids":["https://openalex.org/I86519309","https://openalex.org/I136199984"]},{"raw_affiliation_string":"Harvard University and The University of Texas at Austin https://github.com/harvard-edge/MAVBench","institution_ids":["https://openalex.org/I86519309","https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5089709128"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":0.7768,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.74671191,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"39","issue":"1-4","first_page":"1","last_page":"44"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987000226974487,"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"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9977999925613403,"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/computer-science","display_name":"Computer science","score":0.7971138954162598},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.7549751400947571},{"id":"https://openalex.org/keywords/cyber-physical-system","display_name":"Cyber-physical system","score":0.6273507475852966},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.5472310781478882},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.49809813499450684},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4637976288795471},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.4394964277744293},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4207892417907715},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4127002954483032},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37114977836608887},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3188539743423462}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7971138954162598},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.7549751400947571},{"id":"https://openalex.org/C179768478","wikidata":"https://www.wikidata.org/wiki/Q1120057","display_name":"Cyber-physical system","level":2,"score":0.6273507475852966},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.5472310781478882},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.49809813499450684},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4637976288795471},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.4394964277744293},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4207892417907715},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4127002954483032},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37114977836608887},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3188539743423462},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3511210","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3511210","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3511210","source":{"id":"https://openalex.org/S193109227","display_name":"ACM Transactions on Computer Systems","issn_l":"0734-2071","issn":["0734-2071","1557-7333"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Computer Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1145/3511210","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3511210","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3511210","source":{"id":"https://openalex.org/S193109227","display_name":"ACM Transactions on Computer Systems","issn_l":"0734-2071","issn":["0734-2071","1557-7333"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Computer Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8999999761581421}],"awards":[{"id":"https://openalex.org/G815757974","display_name":"SHF: Small: Collaborative Research: Resilient Computing Systems Using Deep Learning Techniques","funder_award_id":"1528045","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":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4213334549.pdf","grobid_xml":"https://content.openalex.org/works/W4213334549.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W1561867011","https://openalex.org/W1894701209","https://openalex.org/W1969483458","https://openalex.org/W1981076830","https://openalex.org/W2042308583","https://openalex.org/W2052140935","https://openalex.org/W2085448325","https://openalex.org/W2088857549","https://openalex.org/W2120225005","https://openalex.org/W2128145324","https://openalex.org/W2128990851","https://openalex.org/W2133496267","https://openalex.org/W2133522624","https://openalex.org/W2133844819","https://openalex.org/W2141666765","https://openalex.org/W2154889144","https://openalex.org/W2161969291","https://openalex.org/W2167340365","https://openalex.org/W2401507303","https://openalex.org/W2404189583","https://openalex.org/W2409009991","https://openalex.org/W2415595313","https://openalex.org/W2518876086","https://openalex.org/W2525936901","https://openalex.org/W2535547924","https://openalex.org/W2569993365","https://openalex.org/W2591965935","https://openalex.org/W2604185556","https://openalex.org/W2610925780","https://openalex.org/W2611118787","https://openalex.org/W2615547864","https://openalex.org/W2621274416","https://openalex.org/W2740508249","https://openalex.org/W2745859992","https://openalex.org/W2890092611","https://openalex.org/W2913365477","https://openalex.org/W3023695194","https://openalex.org/W3036079062","https://openalex.org/W3102327032","https://openalex.org/W4233591477","https://openalex.org/W4297042293","https://openalex.org/W4297888977","https://openalex.org/W4299545679","https://openalex.org/W4301897651","https://openalex.org/W6731892127"],"related_works":["https://openalex.org/W4238897586","https://openalex.org/W435179959","https://openalex.org/W2619091065","https://openalex.org/W4229448053","https://openalex.org/W2059640416","https://openalex.org/W1490753184","https://openalex.org/W2284465472","https://openalex.org/W2291782699","https://openalex.org/W1993948687","https://openalex.org/W2011676020"],"abstract_inverted_index":{"Autonomous":[0],"and":[1,33,37,94,105,135,173,195,200,208,211,230,240,242,265,280,292,298,325],"mobile":[2,156,189],"cyber-physical":[3,155,188,316],"machines":[4],"are":[5,43,111,197,331],"becoming":[6],"an":[7,267,281],"inevitable":[8],"part":[9],"of":[10,47,61,65,80,99,112,125,185,206,236,258,272,283,328,335,349],"our":[11,129,254,312],"future.":[12],"In":[13,144],"particular,":[14],"Micro":[15,161],"Aerial":[16,162],"Vehicles":[17],"(MAVs)":[18],"have":[19,117],"seen":[20],"a":[21,81,154,160,171,203,234,260,318],"resurgence":[22],"in":[23,153],"activity.":[24],"With":[25],"multiple":[26],"use":[27,124],"cases,":[28],"such":[29,53,92,158,202],"as":[30,159,180,201,309,311],"surveillance,":[31],"search":[32],"rescue,":[34],"package":[35],"delivery,":[36],"more,":[38],"these":[39,55],"unmanned":[40],"aerial":[41],"systems":[42,56],"on":[44,84,214],"the":[45,62,78,86,103,109,123,142,150,178,183,323,329,347,350],"cusp":[46],"demonstrating":[48],"their":[49,68,73,212],"full":[50],"potential.":[51],"Despite":[52],"promises,":[54],"face":[57],"many":[58],"challenges,":[59],"one":[60,215,336],"most":[63],"prominent":[64],"which":[66,225,256,321],"is":[67,131,182,217,342],"low":[69],"endurance":[70],"caused":[71],"by":[72],"limited":[74],"onboard":[75,137],"energy.":[76,174],"Since":[77],"success":[79],"mission":[82,110,166,228,296,299],"depends":[83],"whether":[85],"drone":[87],"can":[88,139,164],"finish":[89],"it":[90,96],"within":[91],"duration":[93],"before":[95],"runs":[97],"out":[98],"battery,":[100],"improving":[101],"both":[102,322],"time":[104,167,297],"energy":[106,300],"associated":[107],"with":[108,320,333],"high":[113],"importance.":[114],"Such":[115],"improvements":[116,294],"traditionally":[118],"been":[119],"arrived":[120],"at":[121,346],"through":[122,224],"better":[126],"algorithms.":[127],"But":[128],"premise":[130],"that":[132,193,315],"more":[133],"powerful":[134],"efficient":[136],"compute":[138,151,194,226,285],"also":[140],"address":[141],"problem.":[143],"this":[145],"article,":[146],"we":[147,176,249,287],"investigate":[148],"how":[149],"subsystem,":[152],"machine":[157],"Vehicle,":[163],"impact":[165,213],"(time":[168],"to":[169,290,339],"complete":[170],"mission)":[172],"Specifically,":[175],"pose":[177],"question":[179],"what":[181],"role":[184],"computing":[186],"for":[187,295,301,344],"robots?":[190],"We":[191,219],"show":[192,220,288,314],"motion":[196],"tightly":[198],"intertwined,":[199],"close":[204],"examination":[205],"cyber":[207,324],"physical":[209,326],"processes":[210],"another":[216],"necessary.":[218],"different":[221],"\u201cimpact":[222],"paths\u201d":[223],"impacts":[227],"metrics":[229],"examine":[231],"them":[232],"using":[233],"combination":[235],"analytical":[237,278],"models,":[238],"simulation,":[239],"micro":[241],"end-to-end":[243,268],"benchmarking.":[244],"To":[245],"enable":[246],"similar":[247,338],"studies,":[248,305],"open":[250],"sourced":[251],"MAVBench":[252],",":[253],"tool-set,":[255],"consists":[257],"(1)":[259],"closed-loop":[261],"real-time":[262],"feedback":[263],"simulator":[264],"(2)":[266],"benchmark":[269],"suite":[270],"composed":[271],"state-of-the-art":[273],"kernels.":[274],"By":[275],"combining":[276],"MAVBench,":[277],"modeling,":[279],"understanding":[282],"various":[284],"impacts,":[286],"up":[289],"2X":[291],"1.8X":[293],"two":[302],"optimization":[303],"case":[304],"respectively.":[306],"Our":[307],"investigations,":[308],"well":[310],"optimizations,":[313],"co-design,":[317,341],"methodology":[319],"processes/quantities":[327],"robot":[330],"developed":[332],"consideration":[334],"another,":[337],"hardware-software":[340],"necessary":[343],"arriving":[345],"design":[348],"optimal":[351],"robot.":[352]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}