{"id":"https://openalex.org/W4412767001","doi":"https://doi.org/10.3389/frobt.2025.1585544","title":"A multi-robot collaborative manipulation framework for dynamic and obstacle-dense environments: integration of deep learning for real-time task execution","display_name":"A multi-robot collaborative manipulation framework for dynamic and obstacle-dense environments: integration of deep learning for real-time task execution","publication_year":2025,"publication_date":"2025-07-30","ids":{"openalex":"https://openalex.org/W4412767001","doi":"https://doi.org/10.3389/frobt.2025.1585544","pmid":"https://pubmed.ncbi.nlm.nih.gov/40809338"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2025.1585544","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1585544","pdf_url":"https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1585544/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1585544/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5115822228","display_name":"Afnan Ahmed Adil","orcid":null},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Afnan Ahmed Adil","raw_affiliation_strings":["Advanced Research and Innovation Center (ARIC), Khalifa University of Science and Technology, Abu Dhabi, United Arab Emirates"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Research and Innovation Center (ARIC), Khalifa University of Science and Technology, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5097604662","display_name":"Saber Sakhrieh","orcid":"https://orcid.org/0009-0000-1798-9685"},"institutions":[{"id":"https://openalex.org/I109703491","display_name":"Rochester Institute of Technology - Dubai","ror":"https://ror.org/03zmfa837","country_code":"AE","type":"education","lineage":["https://openalex.org/I109703491"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Saber Sakhrieh","raw_affiliation_strings":["Electrical Engineering and Computing Department, Rochester Institute of Technology, Dubai, United Arab Emirates"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computing Department, Rochester Institute of Technology, Dubai, United Arab Emirates","institution_ids":["https://openalex.org/I109703491"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086600850","display_name":"Jinane Mounsef","orcid":"https://orcid.org/0000-0003-0165-7170"},"institutions":[{"id":"https://openalex.org/I109703491","display_name":"Rochester Institute of Technology - Dubai","ror":"https://ror.org/03zmfa837","country_code":"AE","type":"education","lineage":["https://openalex.org/I109703491"]}],"countries":["AE"],"is_corresponding":true,"raw_author_name":"Jinane Mounsef","raw_affiliation_strings":["Electrical Engineering and Computing Department, Rochester Institute of Technology, Dubai, United Arab Emirates"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computing Department, Rochester Institute of Technology, Dubai, United Arab Emirates","institution_ids":["https://openalex.org/I109703491"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002792850","display_name":"Noel Maalouf","orcid":"https://orcid.org/0000-0001-7536-4261"},"institutions":[{"id":"https://openalex.org/I56306041","display_name":"Lebanese American University","ror":"https://ror.org/00hqkan37","country_code":"LB","type":"education","lineage":["https://openalex.org/I56306041"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Noel Maalouf","raw_affiliation_strings":["Electrical and Computer Engineering Department, Lebanese American University, Byblos, Lebanon"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Department, Lebanese American University, Byblos, Lebanon","institution_ids":["https://openalex.org/I56306041"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5086600850"],"corresponding_institution_ids":["https://openalex.org/I109703491"],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":5.0218,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.9553766,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"12","issue":null,"first_page":"1585544","last_page":"1585544"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"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":0.8197165131568909},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5996321439743042},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5343624353408813},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5195989012718201},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5035693049430847},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.49907732009887695},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4903719425201416},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.48105716705322266},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4176611304283142},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38780534267425537},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.35783812403678894},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.0931963324546814}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8197165131568909},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5996321439743042},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5343624353408813},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5195989012718201},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5035693049430847},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.49907732009887695},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4903719425201416},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.48105716705322266},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4176611304283142},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38780534267425537},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.35783812403678894},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0931963324546814},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/frobt.2025.1585544","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1585544","pdf_url":"https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1585544/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:40809338","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40809338","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:doaj.org/article:c05c6959b8cd423fbbd5a1e55e32307b","is_oa":true,"landing_page_url":"https://doaj.org/article/c05c6959b8cd423fbbd5a1e55e32307b","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":"Frontiers in Robotics and AI, Vol 12 (2025)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:11156575","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12343253","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3389/frobt.2025.1585544","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1585544","pdf_url":"https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1585544/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4412767001.pdf"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1969483458","https://openalex.org/W2128990851","https://openalex.org/W2154847670","https://openalex.org/W2515724774","https://openalex.org/W2788235625","https://openalex.org/W2804992076","https://openalex.org/W2887672964","https://openalex.org/W2906768577","https://openalex.org/W2912327653","https://openalex.org/W2962875059","https://openalex.org/W2972006294","https://openalex.org/W3086318900","https://openalex.org/W3096656822","https://openalex.org/W3149322120","https://openalex.org/W3169711807","https://openalex.org/W3174690868","https://openalex.org/W3176420870","https://openalex.org/W4200386160","https://openalex.org/W4210598935","https://openalex.org/W4280594542","https://openalex.org/W4311134610","https://openalex.org/W4317604158","https://openalex.org/W4377042131","https://openalex.org/W4400315378","https://openalex.org/W4400645581","https://openalex.org/W4403278810","https://openalex.org/W4410597708","https://openalex.org/W6605295560","https://openalex.org/W6768384112"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W4380590094"],"abstract_inverted_index":{"This":[0,186,222],"paper":[1],"presents":[2],"a":[3,42,45,50,68,102,133,147],"multi-robot":[4,272],"collaborative":[5,233,280],"manipulation":[6],"framework,":[7],"implemented":[8],"in":[9,25,107,195,277],"the":[10,17,55,79,109,139,154,257,269],"Gazebo":[11],"simulation":[12],"environment,":[13],"designed":[14],"to":[15,84,128,157,265],"enable":[16],"execution":[18,191],"of":[19,34,82,229,271],"autonomous":[20],"tasks":[21,86,234],"by":[22],"mobile":[23,36,56],"manipulators":[24],"dynamic":[26,80,283],"environments":[27],"and":[28,49,63,97,162,192,202,209,220,239,246,252,262,282],"dense":[29],"obstacles.":[30],"The":[31,120],"system":[32,258],"consists":[33],"multiple":[35],"robot":[37,111],"platforms,":[38],"each":[39],"equipped":[40],"with":[41,153],"robotic":[43],"manipulator,":[44],"simulated":[46,69,134],"RGB-D":[47,135],"camera,":[48],"2D":[51],"LiDAR":[52,155],"sensor":[53],"on":[54,116,138,236],"base,":[57],"facilitating":[58],"task":[59,118,190,200],"coordination,":[60],"object":[61,125,255],"detection,":[62,256],"advanced":[64],"collision":[65],"avoidance":[66,161],"within":[67],"warehouse":[70],"setting.":[71],"A":[72],"leader-follower":[73],"architecture":[74,106,224],"governs":[75],"collaboration,":[76],"allowing":[77,227],"for":[78,170,232,249,254,274],"formation":[81],"teams":[83],"tackle":[85],"requiring":[87],"combined":[88],"effort,":[89],"such":[90,177],"as":[91,178],"transporting":[92],"heavy":[93],"objects.":[94],"Task":[95],"allocation":[96],"control":[98,104,203],"are":[99,205],"achieved":[100,145],"through":[101,146],"centralized":[103],"structure":[105],"which":[108],"leader":[110],"coordinates":[112],"subordinate":[113],"units":[114],"based":[115,235],"high-level":[117],"assignments.":[119],"framework":[121,273],"incorporates":[122],"deep":[123,247],"learning-based":[124],"detection":[126],"(YOLOv2)":[127],"identify":[129],"target":[130],"objects":[131,264],"using":[132,207],"camera":[136],"mounted":[137],"manipulator's":[140],"end-effector.":[141],"Path":[142],"planning":[143],"is":[144,151,225],"sampling-based":[148],"algorithm":[149],"that":[150],"integrated":[152],"data":[156,215],"facilitate":[158],"precise":[159],"obstacle":[160],"localization.":[163],"It":[164],"also":[165],"provides":[166],"real-time":[167],"path":[168],"rerouting":[169],"safe":[171],"navigation":[172],"when":[173],"dynamically":[174],"moving":[175],"obstacles,":[176],"humans":[179],"or":[180],"other":[181],"entities,":[182],"intersect":[183],"planned":[184],"paths.":[185],"functionality":[187],"ensures":[188],"uninterrupted":[189],"enhances":[193],"safety":[194],"human-robot":[196,284],"shared":[197],"spaces.":[198],"High-level":[199],"scheduling":[201],"transitions":[204],"managed":[206],"MATLAB":[208],"Stateflow":[210],"logic,":[211],"while":[212],"ROS":[213],"facilitates":[214],"communication":[216],"between":[217],"MATLAB,":[218],"Simulink,":[219],"Gazebo.":[221],"multirobot":[223],"adaptable,":[226],"configuration":[228],"team":[230],"size":[231],"load":[237],"requirements":[238],"environmental":[240],"complexity.":[241],"By":[242],"integrating":[243],"computer":[244],"vision":[245],"learning":[248],"visual":[250],"processing,":[251],"YOLOv2":[253],"efficiently":[259],"identifies,":[260],"picks,":[261],"transports":[263],"designated":[266],"locations,":[267],"demonstrating":[268],"scalability":[270],"future":[275],"applications":[276],"logistics":[278],"automation,":[279],"manufacturing,":[281],"interaction":[285],"scenarios.":[286]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
