{"id":"https://openalex.org/W3088289269","doi":"https://doi.org/10.3390/robotics9040078","title":"Robotic Systems of Systems Based on a Decentralized Service-Oriented Architecture","display_name":"Robotic Systems of Systems Based on a Decentralized Service-Oriented Architecture","publication_year":2020,"publication_date":"2020-09-27","ids":{"openalex":"https://openalex.org/W3088289269","doi":"https://doi.org/10.3390/robotics9040078","mag":"3088289269"},"language":"en","primary_location":{"id":"doi:10.3390/robotics9040078","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics9040078","pdf_url":"https://www.mdpi.com/2218-6581/9/4/78/pdf","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/9/4/78/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074590993","display_name":"Lennart Siefke","orcid":"https://orcid.org/0000-0002-2605-4643"},"institutions":[{"id":"https://openalex.org/I129643931","display_name":"Berliner Hochschule f\u00fcr Technik","ror":"https://ror.org/00w7whj55","country_code":"DE","type":"education","lineage":["https://openalex.org/I129643931"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Lennart Siefke","raw_affiliation_strings":["Department of Computer Science and Media, Beuth University of Applied Sciences Berlin, Luxemburger Str. 10, D-13353 Berlin, Germany"],"raw_orcid":"https://orcid.org/0000-0002-2605-4643","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Media, Beuth University of Applied Sciences Berlin, Luxemburger Str. 10, D-13353 Berlin, Germany","institution_ids":["https://openalex.org/I129643931"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028841940","display_name":"Volker Sommer","orcid":"https://orcid.org/0000-0002-4879-8061"},"institutions":[{"id":"https://openalex.org/I129643931","display_name":"Berliner Hochschule f\u00fcr Technik","ror":"https://ror.org/00w7whj55","country_code":"DE","type":"education","lineage":["https://openalex.org/I129643931"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Volker Sommer","raw_affiliation_strings":["Department of Computer Science and Media, Beuth University of Applied Sciences Berlin, Luxemburger Str. 10, D-13353 Berlin, Germany"],"raw_orcid":"https://orcid.org/0000-0002-4879-8061","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Media, Beuth University of Applied Sciences Berlin, Luxemburger Str. 10, D-13353 Berlin, Germany","institution_ids":["https://openalex.org/I129643931"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047542314","display_name":"Bj\u00f6rn Wudka","orcid":"https://orcid.org/0000-0002-1809-176X"},"institutions":[{"id":"https://openalex.org/I122228004","display_name":"HTW Berlin - University of Applied Sciences","ror":"https://ror.org/01xzwj424","country_code":"DE","type":"education","lineage":["https://openalex.org/I122228004"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bj\u00f6rn Wudka","raw_affiliation_strings":["Department of Energy and Information, Hochschule f\u00fcr Technik und Wirtschaft Berlin\u2014University of Applied Sciences, Wilhelminenhofstra\u00dfe 75A, D-12459 Berlin, Germany"],"raw_orcid":"https://orcid.org/0000-0002-1809-176X","affiliations":[{"raw_affiliation_string":"Department of Energy and Information, Hochschule f\u00fcr Technik und Wirtschaft Berlin\u2014University of Applied Sciences, Wilhelminenhofstra\u00dfe 75A, D-12459 Berlin, Germany","institution_ids":["https://openalex.org/I122228004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016365184","display_name":"Carsten Thomas","orcid":"https://orcid.org/0000-0003-0461-2058"},"institutions":[{"id":"https://openalex.org/I122228004","display_name":"HTW Berlin - University of Applied Sciences","ror":"https://ror.org/01xzwj424","country_code":"DE","type":"education","lineage":["https://openalex.org/I122228004"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Carsten Thomas","raw_affiliation_strings":["Department of Energy and Information, Hochschule f\u00fcr Technik und Wirtschaft Berlin\u2014University of Applied Sciences, Wilhelminenhofstra\u00dfe 75A, D-12459 Berlin, Germany"],"raw_orcid":"https://orcid.org/0000-0003-0461-2058","affiliations":[{"raw_affiliation_string":"Department of Energy and Information, Hochschule f\u00fcr Technik und Wirtschaft Berlin\u2014University of Applied Sciences, Wilhelminenhofstra\u00dfe 75A, D-12459 Berlin, Germany","institution_ids":["https://openalex.org/I122228004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5074590993"],"corresponding_institution_ids":["https://openalex.org/I129643931"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":3.3415,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.93656661,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"9","issue":"4","first_page":"78","last_page":"78"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10679","display_name":"Service-Oriented Architecture and Web Services","score":0.9986000061035156,"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"}},"topics":[{"id":"https://openalex.org/T10679","display_name":"Service-Oriented Architecture and Web Services","score":0.9986000061035156,"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":0.9973000288009644,"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"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9944999814033508,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7681723833084106},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.668550431728363},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.6384947896003723},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.6117057204246521},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5811691284179688},{"id":"https://openalex.org/keywords/service","display_name":"Service (business)","score":0.5490196943283081},{"id":"https://openalex.org/keywords/software-architecture","display_name":"Software architecture","score":0.45134446024894714},{"id":"https://openalex.org/keywords/software-framework","display_name":"Software framework","score":0.4223948121070862},{"id":"https://openalex.org/keywords/software-system","display_name":"Software system","score":0.40219399333000183},{"id":"https://openalex.org/keywords/component-based-software-engineering","display_name":"Component-based software engineering","score":0.3898144066333771},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.3738178014755249},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31985020637512207},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.14908316731452942}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7681723833084106},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.668550431728363},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.6384947896003723},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.6117057204246521},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5811691284179688},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.5490196943283081},{"id":"https://openalex.org/C35869016","wikidata":"https://www.wikidata.org/wiki/Q846636","display_name":"Software architecture","level":3,"score":0.45134446024894714},{"id":"https://openalex.org/C76518257","wikidata":"https://www.wikidata.org/wiki/Q271680","display_name":"Software framework","level":5,"score":0.4223948121070862},{"id":"https://openalex.org/C149091818","wikidata":"https://www.wikidata.org/wiki/Q2429814","display_name":"Software system","level":3,"score":0.40219399333000183},{"id":"https://openalex.org/C174683762","wikidata":"https://www.wikidata.org/wiki/Q609588","display_name":"Component-based software engineering","level":4,"score":0.3898144066333771},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.3738178014755249},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31985020637512207},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.14908316731452942},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics9040078","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics9040078","pdf_url":"https://www.mdpi.com/2218-6581/9/4/78/pdf","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:b39b56d75ccc4f9285daf235ad5fc92a","is_oa":true,"landing_page_url":"https://doaj.org/article/b39b56d75ccc4f9285daf235ad5fc92a","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":"Robotics, Vol 9, Iss 4, p 78 (2020)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/9/4/78/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics9040078","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Robotics; Volume 9; Issue 4; Pages: 78","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics9040078","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics9040078","pdf_url":"https://www.mdpi.com/2218-6581/9/4/78/pdf","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3088289269.pdf","grobid_xml":"https://content.openalex.org/works/W3088289269.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W2019881140","https://openalex.org/W2123288296","https://openalex.org/W2135875165","https://openalex.org/W2149797324","https://openalex.org/W2163567045","https://openalex.org/W2167092949","https://openalex.org/W2192583762","https://openalex.org/W2524483602","https://openalex.org/W2765916961","https://openalex.org/W2770943972","https://openalex.org/W2799899844","https://openalex.org/W2860819691","https://openalex.org/W2891925398","https://openalex.org/W2905791203","https://openalex.org/W2945716561","https://openalex.org/W2963026732","https://openalex.org/W2964589760","https://openalex.org/W2999329771","https://openalex.org/W3120587251","https://openalex.org/W6680241297","https://openalex.org/W6683763817","https://openalex.org/W6727763872","https://openalex.org/W6729417626"],"related_works":["https://openalex.org/W1764030237","https://openalex.org/W4238190086","https://openalex.org/W2512656006","https://openalex.org/W2097691581","https://openalex.org/W4254068899","https://openalex.org/W2157036638","https://openalex.org/W2385997131","https://openalex.org/W2182545529","https://openalex.org/W2900166232","https://openalex.org/W2384892149"],"abstract_inverted_index":{"Multi-robot":[0],"systems":[1,135,143],"are":[2,83,96],"often":[3],"static":[4],"and":[5,22,39,49,60,89,100,112,139],"pre-configured":[6],"during":[7,52,92,144],"the":[8,81],"design":[9],"time":[10],"of":[11,106],"their":[12,50,90,103],"software.":[13],"Emerging":[14],"cooperation":[15,25,55],"between":[16],"unknown":[17],"robots":[18,48,82,88],"is":[19],"still":[20],"rare":[21],"limited.":[23],"Such":[24],"might":[26],"be":[27,43,58,64,72,109,123],"basic":[28],"like":[29,35],"sharing":[30],"sensor":[31],"data":[32],"or":[33],"complex":[34],"conjoined":[36],"motion":[37],"planning":[38],"acting.":[40],"Robots":[41],"should":[42,63],"able":[44,84],"to":[45,57,78,85,119,126,136,140],"detect":[46],"other":[47,87],"abilities":[51,91,95],"runtime.":[53,93,145],"When":[54],"seems":[56],"possible":[59],"beneficial,":[61],"it":[62],"initiated":[65],"autonomously.":[66],"A":[67],"centralized":[68],"cloud":[69,120],"control":[70],"shall":[71],"avoided.":[73],"Using":[74],"software":[75,115],"patterns":[76,116],"belonging":[77,118],"service-oriented":[79],"architectures,":[80],"discover":[86],"These":[94],"implemented":[97],"as":[98],"services":[99,107],"described":[101],"by":[102],"interfaces.":[104],"Composition":[105],"can":[108],"done":[110],"easily":[111],"flexibly.":[113],"The":[114,130],"originally":[117],"computing":[121],"could":[122],"successfully":[124],"adopted":[125],"decentralized":[127],"multi-robot":[128,142],"systems.":[129],"developed":[131],"concept":[132],"allows":[133],"autonomous":[134],"cooperate":[137],"flexibly":[138],"compose":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}