{"id":"https://openalex.org/W7165186920","doi":"https://doi.org/10.1145/3797248.3815414","title":"Energy-Aware Coordination of Autonomous Multi-Robot Systems via Small Language Model","display_name":"Energy-Aware Coordination of Autonomous Multi-Robot Systems via Small Language Model","publication_year":2026,"publication_date":"2026-06-19","ids":{"openalex":"https://openalex.org/W7165186920","doi":"https://doi.org/10.1145/3797248.3815414"},"language":null,"primary_location":{"id":"doi:10.1145/3797248.3815414","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3797248.3815414","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 16th ACM International Green and Sustainable Computing Conference","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1145/3797248.3815414","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085726900","display_name":"Rhimesh Lwagun","orcid":null},"institutions":[{"id":"https://openalex.org/I172980758","display_name":"Kennesaw State University","ror":"https://ror.org/00jeqjx33","country_code":"US","type":"education","lineage":["https://openalex.org/I172980758"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rhimesh Lwagun","raw_affiliation_strings":["Department of Electrical and Computer engineering, Kennesaw State University, MARIETTA, GA, USA"],"raw_orcid":"https://orcid.org/0009-0004-8284-3104","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer engineering, Kennesaw State University, MARIETTA, GA, USA","institution_ids":["https://openalex.org/I172980758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138861440","display_name":"Guangyu Jiang","orcid":"https://orcid.org/0009-0003-2934-3701"},"institutions":[{"id":"https://openalex.org/I172980758","display_name":"Kennesaw State University","ror":"https://ror.org/00jeqjx33","country_code":"US","type":"education","lineage":["https://openalex.org/I172980758"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guangyu Jiang","raw_affiliation_strings":["Department of Electrical and Computer engineering, Kennesaw State University, MARIETTA, GA, USA"],"raw_orcid":"https://orcid.org/0009-0003-2934-3701","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer engineering, Kennesaw State University, MARIETTA, GA, USA","institution_ids":["https://openalex.org/I172980758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124751004","display_name":"Justin Lukose","orcid":null},"institutions":[{"id":"https://openalex.org/I172980758","display_name":"Kennesaw State University","ror":"https://ror.org/00jeqjx33","country_code":"US","type":"education","lineage":["https://openalex.org/I172980758"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Justin Lukose","raw_affiliation_strings":["Department of Electrical and Computer engineering, Kennesaw State University, MARIETTA, GA, USA"],"raw_orcid":"https://orcid.org/0009-0000-3481-2259","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer engineering, Kennesaw State University, MARIETTA, GA, USA","institution_ids":["https://openalex.org/I172980758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134058374","display_name":"Olasubomi Rufai","orcid":null},"institutions":[{"id":"https://openalex.org/I172980758","display_name":"Kennesaw State University","ror":"https://ror.org/00jeqjx33","country_code":"US","type":"education","lineage":["https://openalex.org/I172980758"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Olasubomi Rufai","raw_affiliation_strings":["Department of Electrical and Computer engineering, Kennesaw State University, MARIETTA, GA, USA"],"raw_orcid":"https://orcid.org/0009-0008-1185-1181","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer engineering, Kennesaw State University, MARIETTA, GA, USA","institution_ids":["https://openalex.org/I172980758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031320562","display_name":"Xiaoyue Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I172980758","display_name":"Kennesaw State University","ror":"https://ror.org/00jeqjx33","country_code":"US","type":"education","lineage":["https://openalex.org/I172980758"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaoyue Hu","raw_affiliation_strings":["Department of Computer Science, Kennesaw State University, Marietta, GA, USA"],"raw_orcid":"https://orcid.org/0009-0002-1702-5709","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Kennesaw State University, Marietta, GA, USA","institution_ids":["https://openalex.org/I172980758"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018582515","display_name":"Yan Fang","orcid":"https://orcid.org/0000-0002-5416-3302"},"institutions":[{"id":"https://openalex.org/I172980758","display_name":"Kennesaw State University","ror":"https://ror.org/00jeqjx33","country_code":"US","type":"education","lineage":["https://openalex.org/I172980758"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yan Fang","raw_affiliation_strings":["Department of Electrical and Computer engineering, Kennesaw State University, Marietta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5416-3302","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer engineering, Kennesaw State University, Marietta, GA, USA","institution_ids":["https://openalex.org/I172980758"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I172980758"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.77438775,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"78","last_page":"82"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.11869999766349792,"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":0.11869999766349792,"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/T14347","display_name":"Big Data and Digital Economy","score":0.06109999865293503,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"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":0.05719999969005585,"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/field","display_name":"Field (mathematics)","score":0.2842999994754791},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.2827000021934509},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.2786000072956085},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.2687999904155731},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.2662000060081482},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.26350000500679016}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6291000247001648},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3846000134944916},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.322299987077713},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.2842999994754791},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.2827000021934509},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.2786000072956085},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.2687999904155731},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.2662000060081482},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.26350000500679016},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.25380000472068787},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.2533000111579895},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.2513999938964844},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.25099998712539673},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.25060001015663147}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3797248.3815414","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3797248.3815414","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 16th ACM International Green and Sustainable Computing Conference","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3797248.3815414","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3797248.3815414","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 16th ACM International Green and Sustainable Computing Conference","raw_type":"proceedings-article"},"sustainable_development_goals":[{"score":0.5501742362976074,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G4796503975","display_name":null,"funder_award_id":"CCF-2153440","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6215573447","display_name":null,"funder_award_id":"Jump 2.0: CoCoSys","funder_id":"https://openalex.org/F4320306087","funder_display_name":"Semiconductor Research Corporation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306087","display_name":"Semiconductor Research Corporation","ror":"https://ror.org/047z4n946"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W2765463978","https://openalex.org/W2766863610","https://openalex.org/W3112341537","https://openalex.org/W4377164392","https://openalex.org/W4385571689","https://openalex.org/W4401416363","https://openalex.org/W4405787555","https://openalex.org/W4416751182"],"related_works":[],"abstract_inverted_index":{"Battery-powered":[0],"autonomous":[1,158,183],"robots":[2,71,87],"face":[3],"a":[4,54,136,164],"fundamental":[5],"trade-off":[6],"between":[7],"computation":[8,150],"and":[9,143,151,178],"actuation":[10],"energy":[11,31,100,122,155,179],"when":[12],"deploying":[13],"AI-based":[14],"coordination":[15,46],"at":[16],"the":[17,92,129],"edge.":[18],"While":[19],"small":[20],"language":[21],"models":[22,118],"(SLMs)":[23],"enable":[24],"on-device":[25],"reasoning":[26,81],"for":[27,48,157,167],"multi-robot":[28,50,104,159,169],"systems,":[29],"their":[30],"cost":[32],"can":[33,147],"be":[34],"significant":[35],"on":[36,53,85,91,107],"resource-constrained":[37],"platforms.":[38],"In":[39],"this":[40],"work,":[41],"we":[42],"propose":[43],"an":[44,66],"energy-aware":[45],"framework":[47],"heterogeneous":[49],"systems":[51,170],"based":[52],"captain\u2013worker":[55],"architecture.":[56],"A":[57],"resource-rich":[58],"\u201ccaptain\u201d":[59],"robot":[60,130],"performs":[61],"high-level":[62,80,141],"task":[63,105,176],"planning":[64,90,106,142],"using":[65],"SLM,":[67],"while":[68],"lightweight":[69],"\u201cworker\u201d":[70],"execute":[72],"actions":[73],"with":[74,139],"minimal":[75],"onboard":[76],"computation,":[77],"thereby":[78],"shifting":[79],"from":[82],"distributed":[83,144],"inference":[84],"multiple":[86],"to":[88],"centralized":[89,140],"captain":[93,112],"robot.":[94,113],"We":[95],"present":[96],"preliminary":[97],"results":[98,133],"about":[99],"measurements":[101],"of":[102,111],"SLM-based":[103],"edge":[108],"computing":[109],"platform":[110],"Results":[114],"indicate":[115],"that":[116,135],"larger":[117],"incur":[119],"substantially":[120],"higher":[121],"consumption,":[123],"motivating":[124],"selective":[125],"workload":[126],"allocation":[127],"within":[128],"team.":[131],"The":[132],"suggest":[134],"bilevel":[137],"hierarchy":[138],"low-level":[145],"execution":[146],"reduce":[148],"redundant":[149],"improve":[152],"overall":[153],"system-level":[154],"efficiency":[156],"applications.":[160,184],"This":[161],"work":[162],"demonstrates":[163],"promising":[165],"direction":[166],"sustainable":[168],"by":[171],"jointly":[172],"considering":[173],"AI":[174],"capability,":[175],"allocation,":[177],"constraints":[180],"in":[181],"real-world":[182]},"counts_by_year":[],"updated_date":"2026-06-20T20:08:15.867695","created_date":"2026-06-19T00:00:00"}