{"id":"https://openalex.org/W2101570518","doi":"https://doi.org/10.1155/2014/201063","title":"A Layered Middleware Architecture for Automated Robot Services","display_name":"A Layered Middleware Architecture for Automated Robot Services","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2101570518","doi":"https://doi.org/10.1155/2014/201063","mag":"2101570518"},"language":"en","primary_location":{"id":"doi:10.1155/2014/201063","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2014/201063","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1155/2014/201063","source":{"id":"https://openalex.org/S64417657","display_name":"International Journal of Distributed Sensor Networks","issn_l":"1550-1329","issn":["1550-1329","1550-1477"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Distributed Sensor Networks","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://journals.sagepub.com/doi/pdf/10.1155/2014/201063","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110456120","display_name":"Jongsun Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I11893660","display_name":"Mokpo National University","ror":"https://ror.org/00v81k483","country_code":"KR","type":"education","lineage":["https://openalex.org/I11893660"]},{"id":"https://openalex.org/I141371507","display_name":"Soongsil University","ror":"https://ror.org/017xnm587","country_code":"KR","type":"education","lineage":["https://openalex.org/I141371507"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jongsun Choi","raw_affiliation_strings":["Department of Computer Engineering, Mokpo National University, JeollaNam-do 153-729, Republic of Korea","School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea","1 School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Mokpo National University, JeollaNam-do 153-729, Republic of Korea","institution_ids":["https://openalex.org/I11893660"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea","institution_ids":["https://openalex.org/I141371507"]},{"raw_affiliation_string":"1 School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea","institution_ids":["https://openalex.org/I141371507"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110456120","display_name":"Jongsun Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I11893660","display_name":"Mokpo National University","ror":"https://ror.org/00v81k483","country_code":"KR","type":"education","lineage":["https://openalex.org/I11893660"]},{"id":"https://openalex.org/I141371507","display_name":"Soongsil University","ror":"https://ror.org/017xnm587","country_code":"KR","type":"education","lineage":["https://openalex.org/I141371507"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jongsun Choi","raw_affiliation_strings":["Department of Computer Engineering, Mokpo National University, JeollaNam-do 153-729, Republic of Korea","School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea","1 School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Mokpo National University, JeollaNam-do 153-729, Republic of Korea","institution_ids":["https://openalex.org/I11893660"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea","institution_ids":["https://openalex.org/I141371507"]},{"raw_affiliation_string":"1 School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea","institution_ids":["https://openalex.org/I141371507"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069256165","display_name":"Yongseong Cho","orcid":"https://orcid.org/0000-0001-7732-2524"},"institutions":[{"id":"https://openalex.org/I141371507","display_name":"Soongsil University","ror":"https://ror.org/017xnm587","country_code":"KR","type":"education","lineage":["https://openalex.org/I141371507"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yongseong Cho","raw_affiliation_strings":["School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea","1 School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea","institution_ids":["https://openalex.org/I141371507"]},{"raw_affiliation_string":"1 School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea","institution_ids":["https://openalex.org/I141371507"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044068522","display_name":"Jaeyoung Choi","orcid":"https://orcid.org/0000-0002-7321-9682"},"institutions":[{"id":"https://openalex.org/I11893660","display_name":"Mokpo National University","ror":"https://ror.org/00v81k483","country_code":"KR","type":"education","lineage":["https://openalex.org/I11893660"]},{"id":"https://openalex.org/I141371507","display_name":"Soongsil University","ror":"https://ror.org/017xnm587","country_code":"KR","type":"education","lineage":["https://openalex.org/I141371507"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeyoung Choi","raw_affiliation_strings":["Department of Computer Engineering, Mokpo National University, JeollaNam-do 153-729, Republic of Korea","School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea","2 Department of Computer Engineering, Mokpo National University, JeollaNam-do 153-729, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-7321-9682","affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Mokpo National University, JeollaNam-do 153-729, Republic of Korea","institution_ids":["https://openalex.org/I11893660"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea","institution_ids":["https://openalex.org/I141371507"]},{"raw_affiliation_string":"2 Department of Computer Engineering, Mokpo National University, JeollaNam-do 153-729, Republic of Korea","institution_ids":["https://openalex.org/I11893660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044068522","display_name":"Jaeyoung Choi","orcid":"https://orcid.org/0000-0002-7321-9682"},"institutions":[{"id":"https://openalex.org/I11893660","display_name":"Mokpo National University","ror":"https://ror.org/00v81k483","country_code":"KR","type":"education","lineage":["https://openalex.org/I11893660"]},{"id":"https://openalex.org/I141371507","display_name":"Soongsil University","ror":"https://ror.org/017xnm587","country_code":"KR","type":"education","lineage":["https://openalex.org/I141371507"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jaeyoung Choi","raw_affiliation_strings":["Department of Computer Engineering, Mokpo National University, JeollaNam-do 153-729, Republic of Korea","School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-7321-9682","affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Mokpo National University, JeollaNam-do 153-729, Republic of Korea","institution_ids":["https://openalex.org/I11893660"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea","institution_ids":["https://openalex.org/I141371507"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058393868","display_name":"Jongmyung Choi","orcid":"https://orcid.org/0000-0003-3595-1503"},"institutions":[{"id":"https://openalex.org/I11893660","display_name":"Mokpo National University","ror":"https://ror.org/00v81k483","country_code":"KR","type":"education","lineage":["https://openalex.org/I11893660"]},{"id":"https://openalex.org/I141371507","display_name":"Soongsil University","ror":"https://ror.org/017xnm587","country_code":"KR","type":"education","lineage":["https://openalex.org/I141371507"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jongmyung Choi","raw_affiliation_strings":["Department of Computer Engineering, Mokpo National University, JeollaNam-do 153-729, Republic of Korea","School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-3595-1503","affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Mokpo National University, JeollaNam-do 153-729, Republic of Korea","institution_ids":["https://openalex.org/I11893660"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea","institution_ids":["https://openalex.org/I141371507"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058393868","display_name":"Jongmyung Choi","orcid":"https://orcid.org/0000-0003-3595-1503"},"institutions":[{"id":"https://openalex.org/I11893660","display_name":"Mokpo National University","ror":"https://ror.org/00v81k483","country_code":"KR","type":"education","lineage":["https://openalex.org/I11893660"]},{"id":"https://openalex.org/I141371507","display_name":"Soongsil University","ror":"https://ror.org/017xnm587","country_code":"KR","type":"education","lineage":["https://openalex.org/I141371507"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jongmyung Choi","raw_affiliation_strings":["Department of Computer Engineering, Mokpo National University, JeollaNam-do 153-729, Republic of Korea","School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-3595-1503","affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Mokpo National University, JeollaNam-do 153-729, Republic of Korea","institution_ids":["https://openalex.org/I11893660"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Soongsil University, Seoul 156-743, Republic of Korea","institution_ids":["https://openalex.org/I141371507"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5044068522","https://openalex.org/A5058393868","https://openalex.org/A5110456120"],"corresponding_institution_ids":["https://openalex.org/I11893660","https://openalex.org/I141371507"],"apc_list":{"value":2200,"currency":"USD","value_usd":2200},"apc_paid":{"value":2200,"currency":"USD","value_usd":2200},"fwci":1.533,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.86666906,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"10","issue":"5","first_page":"201063","last_page":"201063"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T10679","display_name":"Service-Oriented Architecture and Web Services","score":0.9970999956130981,"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/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.996399998664856,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8004610538482666},{"id":"https://openalex.org/keywords/middleware","display_name":"Middleware (distributed applications)","score":0.7556769847869873},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7481507062911987},{"id":"https://openalex.org/keywords/service","display_name":"Service (business)","score":0.5847271680831909},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5101092457771301},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4714523255825043},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.4617043137550354},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.45608657598495483},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.42225104570388794},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.4154673218727112},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.2846360206604004},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27699124813079834},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.19872987270355225}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8004610538482666},{"id":"https://openalex.org/C169468491","wikidata":"https://www.wikidata.org/wiki/Q146923","display_name":"Middleware (distributed applications)","level":2,"score":0.7556769847869873},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7481507062911987},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.5847271680831909},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5101092457771301},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4714523255825043},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.4617043137550354},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.45608657598495483},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.42225104570388794},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.4154673218727112},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2846360206604004},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27699124813079834},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.19872987270355225},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C136264566","wikidata":"https://www.wikidata.org/wiki/Q159810","display_name":"Economy","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1155/2014/201063","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2014/201063","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1155/2014/201063","source":{"id":"https://openalex.org/S64417657","display_name":"International Journal of Distributed Sensor Networks","issn_l":"1550-1329","issn":["1550-1329","1550-1477"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Distributed Sensor Networks","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:sae:intdis:v:10:y:2014:i:5:p:201063","is_oa":false,"landing_page_url":"https://journals.sagepub.com/doi/10.1155/2014/201063","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"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":"article"},{"id":"pmh:oai:doaj.org/article:2261d9899bf04c8380745cd47df5c3bc","is_oa":true,"landing_page_url":"https://doaj.org/article/2261d9899bf04c8380745cd47df5c3bc","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Distributed Sensor Networks, Vol 10 (2014)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2014/201063","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2014/201063","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1155/2014/201063","source":{"id":"https://openalex.org/S64417657","display_name":"International Journal of Distributed Sensor Networks","issn_l":"1550-1329","issn":["1550-1329","1550-1477"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Distributed Sensor Networks","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.5,"id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G7990767309","display_name":null,"funder_award_id":"2013R1A1A2012118","funder_id":"https://openalex.org/F4320322349","funder_display_name":"Ministry of Education, Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320322349","display_name":"Ministry of Education, Science and Technology","ror":"https://ror.org/01p262204"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2101570518.pdf"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W22818929","https://openalex.org/W157018587","https://openalex.org/W1488709044","https://openalex.org/W1489405821","https://openalex.org/W1501567982","https://openalex.org/W1836404726","https://openalex.org/W1975537389","https://openalex.org/W1992135174","https://openalex.org/W2029686086","https://openalex.org/W2095757873","https://openalex.org/W2129773848","https://openalex.org/W2146222712","https://openalex.org/W2162456840","https://openalex.org/W2181194772","https://openalex.org/W2187332592","https://openalex.org/W2623660146"],"related_works":["https://openalex.org/W2152253641","https://openalex.org/W4246585869","https://openalex.org/W2118085316","https://openalex.org/W2051814050","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2109596994","https://openalex.org/W2014498449","https://openalex.org/W2025208083","https://openalex.org/W2115030537"],"abstract_inverted_index":{"These":[0],"days,":[1],"using":[2,158],"robots":[3,35],"has":[4],"gradually":[5],"been":[6],"extending":[7],"from":[8,69],"the":[9,19,47,59,85,93,112,124,134,138,164,169,179,188,195],"limited":[10],"industrial":[11],"areas":[12,17],"in":[13,22,46,79,120,185],"factories":[14],"to":[15,28,55,57,65,81,110],"service":[16],"for":[18,106],"general":[20],"public":[21],"everyday":[23],"life.":[24],"It":[25],"is":[26,63],"possible":[27],"imagine":[29],"that":[30],"end":[31,89],"users":[32,83,90,128,148],"easily":[33],"control":[34,189],"and":[36,73,123,166,194],"they":[37,44],"define":[38,92,150],"new":[39],"services":[40,95,109,131,143,156,184],"by":[41,144,157],"themselves":[42],"as":[43],"wish":[45],"near":[48],"future.":[49,60],"However,":[50],"there":[51],"are":[52],"three":[53,102],"issues":[54],"resolve":[56,111],"realize":[58],"Firstly,":[61],"it":[62],"required":[64],"abstract":[66],"robots'":[67,118],"behaviors":[68,119],"primitive":[70],"robot":[71,94,108,130,142,155,183,192,199],"functions,":[72],"secondly,":[74],"we":[75,100],"need":[76],"context":[77],"awareness":[78],"order":[80],"provide":[82],"with":[84,129,173],"appropriate":[86],"services.":[87,200],"Lastly":[88],"can":[91,149],"easily.":[96],"In":[97],"this":[98],"paper,":[99],"propose":[101],"layered":[103,170],"middleware":[104,171],"architecture":[105,172],"automated":[107],"problems.":[113],"The":[114],"lowest":[115],"layer":[116,126,140],"abstracts":[117],"functional":[121],"level,":[122,187],"middle":[125],"provides":[127],"based":[132],"on":[133],"situational":[135],"information.":[136],"And":[137],"highest":[139],"defines":[141],"sequential":[145],"order.":[146],"End":[147],"practically":[151],"a":[152,174],"flow":[153],"of":[154,168,182,191,198],"an":[159],"intuitive":[160],"GUI.":[161],"We":[162],"showed":[163],"availability":[165],"effectiveness":[167],"prototype":[175],"system,":[176],"which":[177],"presents":[178],"facile":[180],"definition":[181],"application":[186],"process":[190,197],"service,":[193],"abstraction":[196]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2026-08-08T07:41:36.138363","created_date":"2025-10-10T00:00:00"}
