{"id":"https://openalex.org/W4361208868","doi":"https://doi.org/10.3390/s23073516","title":"Transformers for Multi-Horizon Forecasting in an Industry 4.0 Use Case","display_name":"Transformers for Multi-Horizon Forecasting in an Industry 4.0 Use Case","publication_year":2023,"publication_date":"2023-03-27","ids":{"openalex":"https://openalex.org/W4361208868","doi":"https://doi.org/10.3390/s23073516","pmid":"https://pubmed.ncbi.nlm.nih.gov/37050575"},"language":"en","primary_location":{"id":"doi:10.3390/s23073516","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23073516","pdf_url":"https://www.mdpi.com/1424-8220/23/7/3516/pdf?version=1679970012","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/23/7/3516/pdf?version=1679970012","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007721762","display_name":"Stanislav Vakaruk","orcid":"https://orcid.org/0000-0003-4263-0206"},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Stanislav Vakaruk","raw_affiliation_strings":["Departamento de Sistemas Inform\u00e1ticos, Escuela T\u00e9cnica Superior de Sistemas Inform\u00e1ticos, Universidad Polit\u00e9cnica de Madrid, 28031 Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Departamento de Sistemas Inform\u00e1ticos, Escuela T\u00e9cnica Superior de Sistemas Inform\u00e1ticos, Universidad Polit\u00e9cnica de Madrid, 28031 Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052518295","display_name":"Amit Karamchandani","orcid":"https://orcid.org/0000-0002-0311-6610"},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Amit Karamchandani","raw_affiliation_strings":["Departamento de Sistemas Inform\u00e1ticos, Escuela T\u00e9cnica Superior de Sistemas Inform\u00e1ticos, Universidad Polit\u00e9cnica de Madrid, 28031 Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Departamento de Sistemas Inform\u00e1ticos, Escuela T\u00e9cnica Superior de Sistemas Inform\u00e1ticos, Universidad Polit\u00e9cnica de Madrid, 28031 Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078453067","display_name":"J. Enrique Sierra\u2010Garc\u00eda","orcid":"https://orcid.org/0000-0001-6088-9954"},"institutions":[{"id":"https://openalex.org/I46176106","display_name":"Universidad de Burgos","ror":"https://ror.org/049da5t36","country_code":"ES","type":"education","lineage":["https://openalex.org/I46176106"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jes\u00fas Enrique Sierra-Garc\u00eda","raw_affiliation_strings":["Departamento de Ingenier\u00eda Electromec\u00e1nica, Escuela Polit\u00e9cnica Superior, Universidad de Burgos, 09006 Burgos, Spain"],"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda Electromec\u00e1nica, Escuela Polit\u00e9cnica Superior, Universidad de Burgos, 09006 Burgos, Spain","institution_ids":["https://openalex.org/I46176106"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017087550","display_name":"Alberto Moz\u00f3","orcid":"https://orcid.org/0000-0001-9743-8604"},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Alberto Mozo","raw_affiliation_strings":["Departamento de Sistemas Inform\u00e1ticos, Escuela T\u00e9cnica Superior de Sistemas Inform\u00e1ticos, Universidad Polit\u00e9cnica de Madrid, 28031 Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Departamento de Sistemas Inform\u00e1ticos, Escuela T\u00e9cnica Superior de Sistemas Inform\u00e1ticos, Universidad Polit\u00e9cnica de Madrid, 28031 Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067556967","display_name":"Sandra G\u00f3mez-Canaval","orcid":"https://orcid.org/0000-0002-9757-7871"},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Sandra G\u00f3mez-Canaval","raw_affiliation_strings":["Departamento de Sistemas Inform\u00e1ticos, Escuela T\u00e9cnica Superior de Sistemas Inform\u00e1ticos, Universidad Polit\u00e9cnica de Madrid, 28031 Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Departamento de Sistemas Inform\u00e1ticos, Escuela T\u00e9cnica Superior de Sistemas Inform\u00e1ticos, Universidad Polit\u00e9cnica de Madrid, 28031 Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103108041","display_name":"Antonio Pastor","orcid":"https://orcid.org/0000-0003-2849-9782"},"institutions":[{"id":"https://openalex.org/I4210134591","display_name":"Telefonica Research and Development","ror":"https://ror.org/03qgzzb04","country_code":"ES","type":"company","lineage":["https://openalex.org/I4210097190","https://openalex.org/I4210134591"]},{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Antonio Pastor","raw_affiliation_strings":["Departamento de Sistemas Inform\u00e1ticos, Escuela T\u00e9cnica Superior de Sistemas Inform\u00e1ticos, Universidad Polit\u00e9cnica de Madrid, 28031 Madrid, Spain","Telef\u00f3nica I+D., 28050 Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Departamento de Sistemas Inform\u00e1ticos, Escuela T\u00e9cnica Superior de Sistemas Inform\u00e1ticos, Universidad Polit\u00e9cnica de Madrid, 28031 Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]},{"raw_affiliation_string":"Telef\u00f3nica I+D., 28050 Madrid, Spain","institution_ids":["https://openalex.org/I4210134591"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5017087550"],"corresponding_institution_ids":["https://openalex.org/I88060688"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.5454,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.80127968,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"23","issue":"7","first_page":"3516","last_page":"3516"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9883000254631042,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9883000254631042,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T12120","display_name":"Air Quality Monitoring and Forecasting","score":0.984000027179718,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10270","display_name":"Blockchain Technology Applications and Security","score":0.982200026512146,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.6072688698768616},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5639750957489014},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5595721006393433},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.544483482837677},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4996047019958496},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.49845242500305176},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4954425096511841},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4843791425228119},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4734888970851898},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.42952215671539307},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3652855455875397},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.362387478351593},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3512517511844635},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20460858941078186},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.14014098048210144}],"concepts":[{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.6072688698768616},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5639750957489014},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5595721006393433},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.544483482837677},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4996047019958496},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.49845242500305176},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4954425096511841},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4843791425228119},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4734888970851898},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.42952215671539307},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3652855455875397},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.362387478351593},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3512517511844635},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20460858941078186},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.14014098048210144},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s23073516","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23073516","pdf_url":"https://www.mdpi.com/1424-8220/23/7/3516/pdf?version=1679970012","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:37050575","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37050575","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10098670","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10098670","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10098670/pdf/sensors-23-03516.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:8830a699fc4148409fa48a8c322ae146","is_oa":true,"landing_page_url":"https://doaj.org/article/8830a699fc4148409fa48a8c322ae146","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 23, Iss 7, p 3516 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/7/3516/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23073516","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":"Sensors; Volume 23; Issue 7; Pages: 3516","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23073516","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23073516","pdf_url":"https://www.mdpi.com/1424-8220/23/7/3516/pdf?version=1679970012","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2810399523","display_name":null,"funder_award_id":"RP2161220029","funder_id":"https://openalex.org/F4320322138","funder_display_name":"Universidad Polit\u00e9cnica de Madrid"}],"funders":[{"id":"https://openalex.org/F4320322138","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4361208868.pdf"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1658820945","https://openalex.org/W2003706483","https://openalex.org/W2064675550","https://openalex.org/W2072128103","https://openalex.org/W2107878631","https://openalex.org/W2209610041","https://openalex.org/W2736506089","https://openalex.org/W2793311937","https://openalex.org/W2797972299","https://openalex.org/W2885644301","https://openalex.org/W2997194379","https://openalex.org/W3022643593","https://openalex.org/W3038400328","https://openalex.org/W3043175843","https://openalex.org/W3100386461","https://openalex.org/W3116657256","https://openalex.org/W3132782787","https://openalex.org/W3160555449","https://openalex.org/W3186975898","https://openalex.org/W3188872815","https://openalex.org/W3201685616","https://openalex.org/W4205853289","https://openalex.org/W4281853153"],"related_works":["https://openalex.org/W2799225442","https://openalex.org/W2895956935","https://openalex.org/W2906267174","https://openalex.org/W134501823","https://openalex.org/W2615656344","https://openalex.org/W2013239059","https://openalex.org/W2295626654","https://openalex.org/W4286622840","https://openalex.org/W2536121351","https://openalex.org/W2809608782"],"abstract_inverted_index":{"Recently,":[0],"a":[1,15,27,34,48,128,169,226,255,282],"novel":[2,129],"approach":[3,46,130],"in":[4,199,215,258,265,285],"the":[5,52,82,111,138,148,155,163,173,182,191,196,210,222,230,242,248,294,301],"field":[6],"of":[7,18,84,140,154,195,229],"Industry":[8],"4.0":[9],"factory":[10],"operations":[11],"was":[12],"proposed":[13,81,174,197,295],"for":[14,110,305],"new":[16,152],"generation":[17],"automated":[19],"guided":[20],"vehicles":[21],"(AGVs)":[22],"that":[23,59,92,159,208,239,253,278,293],"are":[24,115,160],"connected":[25],"to":[26,40,62,136,162,189,201,238,262,269],"virtualized":[28],"programmable":[29],"logic":[30],"controller":[31],"(PLC)":[32],"via":[33],"5G":[35,53],"multi-access":[36],"edge-computing":[37],"(MEC)":[38],"platform":[39],"enable":[41],"remote":[42],"control.":[43],"However,":[44,103],"this":[45,76,123,125],"faces":[47],"critical":[49],"challenge":[50],"as":[51,181],"network":[54,119],"may":[55],"encounter":[56],"communication":[57],"disruptions":[58],"can":[60,93,297],"lead":[61],"AGV":[63,95,112],"deviations":[64,97],"and,":[65],"with":[66],"this,":[67],"potential":[68],"safety":[69],"risks":[70],"and":[71,98,114,176,193,218,274,288],"workplace":[72],"issues.":[73],"To":[74,121],"mitigate":[75],"problem,":[77],"several":[78],"works":[79],"have":[80,106],"use":[83,254],"fixed-horizon":[85,219,244],"forecasting":[86,134,233,245],"techniques":[87,135],"based":[88,131],"on":[89,132],"deep-learning":[90,178,203],"models":[91,175,198,212,252,277,296],"anticipate":[94],"trajectory":[96],"take":[99],"corrective":[100],"maneuvers":[101],"accordingly.":[102],"these":[104],"methods":[105],"limited":[107],"prediction":[108,165,223],"flexibility":[109],"operator":[113],"not":[116,280],"robust":[117],"against":[118],"instability.":[120],"address":[122],"limitation,":[124],"study":[126],"proposes":[127],"multi-horizon":[133,164,217,232,266,276],"predict":[137],"deviation":[139],"remotely":[141],"controlled":[142],"AGVs.":[143],"As":[144],"its":[145],"primary":[146],"contribution,":[147],"work":[149],"presents":[150],"two":[151],"versions":[153],"state-of-the-art":[156],"transformer":[157],"architecture":[158],"well-suited":[161],"problem.":[166],"We":[167],"conduct":[168],"comprehensive":[170],"comparison":[171],"between":[172],"traditional":[177,202],"models,":[179],"such":[180],"long":[183],"short-term":[184],"memory":[185],"(LSTM)":[186],"neural":[187],"network,":[188],"evaluate":[190],"performance":[192],"capabilities":[194],"relation":[200],"architectures.":[204],"The":[205],"results":[206],"indicate":[207],"(i)":[209],"transformer-based":[211],"outperform":[213],"LSTM":[214],"both":[216],"scenarios,":[220],"(ii)":[221],"accuracy":[224],"at":[225,247],"specific":[227],"time-step":[228],"best":[231,243],"model":[234,246],"is":[235],"very":[236],"close":[237],"obtained":[240],"by":[241],"same":[249],"step,":[250],"(iii)":[251],"time-sequence":[256],"structure":[257],"their":[259,270,286],"inputs":[260],"tend":[261],"perform":[263,298],"better":[264],"scenarios":[267],"compared":[268],"fixed":[271],"horizon":[272],"counterparts":[273],"other":[275],"do":[279],"consider":[281],"time":[283,303],"topology":[284],"inputs,":[287],"(iv)":[289],"our":[290],"experiments":[291],"showed":[292],"inference":[299],"within":[300],"required":[302],"constraints":[304],"real-time":[306],"decision":[307],"making.":[308]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}