{"id":"https://openalex.org/W4377138421","doi":"https://doi.org/10.3390/s23104892","title":"Swarm Metaverse for Multi-Level Autonomy Using Digital Twins","display_name":"Swarm Metaverse for Multi-Level Autonomy Using Digital Twins","publication_year":2023,"publication_date":"2023-05-19","ids":{"openalex":"https://openalex.org/W4377138421","doi":"https://doi.org/10.3390/s23104892","pmid":"https://pubmed.ncbi.nlm.nih.gov/37430816"},"language":"en","primary_location":{"id":"doi:10.3390/s23104892","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23104892","pdf_url":"https://www.mdpi.com/1424-8220/23/10/4892/pdf?version=1684489587","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/1424-8220/23/10/4892/pdf?version=1684489587","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100716471","display_name":"Hung Nguyen","orcid":"https://orcid.org/0000-0002-0938-0930"},"institutions":[{"id":"https://openalex.org/I188329596","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328","country_code":"AU","type":"education","lineage":["https://openalex.org/I188329596"]},{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Hung Nguyen","raw_affiliation_strings":["School of Engineering and Information Technology, University of New South Wales, Canberra, ACT 2600, Australia"],"raw_orcid":"https://orcid.org/0000-0002-0938-0930","affiliations":[{"raw_affiliation_string":"School of Engineering and Information Technology, University of New South Wales, Canberra, ACT 2600, Australia","institution_ids":["https://openalex.org/I188329596","https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042479878","display_name":"Aya Hussein","orcid":"https://orcid.org/0000-0003-3204-0712"},"institutions":[{"id":"https://openalex.org/I188329596","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328","country_code":"AU","type":"education","lineage":["https://openalex.org/I188329596"]},{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Aya Hussein","raw_affiliation_strings":["School of Engineering and Information Technology, University of New South Wales, Canberra, ACT 2600, Australia"],"raw_orcid":"https://orcid.org/0000-0003-3204-0712","affiliations":[{"raw_affiliation_string":"School of Engineering and Information Technology, University of New South Wales, Canberra, ACT 2600, Australia","institution_ids":["https://openalex.org/I188329596","https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064811459","display_name":"Matthew Garratt","orcid":"https://orcid.org/0000-0003-0222-430X"},"institutions":[{"id":"https://openalex.org/I188329596","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328","country_code":"AU","type":"education","lineage":["https://openalex.org/I188329596"]},{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Matthew A. Garratt","raw_affiliation_strings":["School of Engineering and Information Technology, University of New South Wales, Canberra, ACT 2600, Australia"],"raw_orcid":"https://orcid.org/0000-0003-0222-430X","affiliations":[{"raw_affiliation_string":"School of Engineering and Information Technology, University of New South Wales, Canberra, ACT 2600, Australia","institution_ids":["https://openalex.org/I188329596","https://openalex.org/I31746571"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022974795","display_name":"Hussein A. Abbass","orcid":"https://orcid.org/0000-0002-8837-0748"},"institutions":[{"id":"https://openalex.org/I188329596","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328","country_code":"AU","type":"education","lineage":["https://openalex.org/I188329596"]},{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Hussein A. Abbass","raw_affiliation_strings":["School of Engineering and Information Technology, University of New South Wales, Canberra, ACT 2600, Australia"],"raw_orcid":"https://orcid.org/0000-0002-8837-0748","affiliations":[{"raw_affiliation_string":"School of Engineering and Information Technology, University of New South Wales, Canberra, ACT 2600, Australia","institution_ids":["https://openalex.org/I188329596","https://openalex.org/I31746571"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5022974795"],"corresponding_institution_ids":["https://openalex.org/I188329596","https://openalex.org/I31746571"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":2.983,"has_fulltext":true,"cited_by_count":17,"citation_normalized_percentile":{"value":0.91628052,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"23","issue":"10","first_page":"4892","last_page":"4892"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11133","display_name":"UAV Applications and Optimization","score":0.9954000115394592,"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"}},{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/swarm-behaviour","display_name":"Swarm behaviour","score":0.8855060338973999},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.8260321617126465},{"id":"https://openalex.org/keywords/metaverse","display_name":"Metaverse","score":0.7784806489944458},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7529184818267822},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6876447200775146},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5123225450515747},{"id":"https://openalex.org/keywords/swarm-intelligence","display_name":"Swarm intelligence","score":0.4742899537086487},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46553128957748413},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4625984728336334},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4283665120601654},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.3403318524360657},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3149593472480774},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.2275782823562622},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.14083433151245117}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.8855060338973999},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.8260321617126465},{"id":"https://openalex.org/C53332860","wikidata":"https://www.wikidata.org/wiki/Q2632041","display_name":"Metaverse","level":3,"score":0.7784806489944458},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7529184818267822},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6876447200775146},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5123225450515747},{"id":"https://openalex.org/C119487961","wikidata":"https://www.wikidata.org/wiki/Q863960","display_name":"Swarm intelligence","level":3,"score":0.4742899537086487},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46553128957748413},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4625984728336334},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4283665120601654},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.3403318524360657},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3149593472480774},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.2275782823562622},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.14083433151245117},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s23104892","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23104892","pdf_url":"https://www.mdpi.com/1424-8220/23/10/4892/pdf?version=1684489587","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:37430816","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37430816","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:10221815","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10221815","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10221815/pdf/sensors-23-04892.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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:73977483db5843768d17591e570a4674","is_oa":true,"landing_page_url":"https://doaj.org/article/73977483db5843768d17591e570a4674","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":"Sensors, Vol 23, Iss 10, p 4892 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/10/4892/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23104892","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 10; Pages: 4892","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23104892","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23104892","pdf_url":"https://www.mdpi.com/1424-8220/23/10/4892/pdf?version=1684489587","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/G4343452304","display_name":"Machine education for trusted multi-skilled evolutionary learners ","funder_award_id":"DP200101211","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"}],"funders":[{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4377138421.pdf"},"referenced_works_count":64,"referenced_works":["https://openalex.org/W212036681","https://openalex.org/W1481103847","https://openalex.org/W1541042054","https://openalex.org/W1854667150","https://openalex.org/W1986115478","https://openalex.org/W2002746573","https://openalex.org/W2044689812","https://openalex.org/W2058339203","https://openalex.org/W2061669454","https://openalex.org/W2062932390","https://openalex.org/W2067141342","https://openalex.org/W2069287462","https://openalex.org/W2101644100","https://openalex.org/W2109664384","https://openalex.org/W2118039043","https://openalex.org/W2137602277","https://openalex.org/W2143580450","https://openalex.org/W2143969246","https://openalex.org/W2147669530","https://openalex.org/W2169855920","https://openalex.org/W2267863633","https://openalex.org/W2311543941","https://openalex.org/W2316211228","https://openalex.org/W2327115561","https://openalex.org/W2410000512","https://openalex.org/W2423300849","https://openalex.org/W2523330847","https://openalex.org/W2556673367","https://openalex.org/W2592523922","https://openalex.org/W2598004827","https://openalex.org/W2738317299","https://openalex.org/W2809482786","https://openalex.org/W2915288563","https://openalex.org/W2915708926","https://openalex.org/W2916969382","https://openalex.org/W2962938538","https://openalex.org/W2964339789","https://openalex.org/W2973689212","https://openalex.org/W2979477470","https://openalex.org/W2999072249","https://openalex.org/W3022822194","https://openalex.org/W3089889150","https://openalex.org/W3095314188","https://openalex.org/W3106338013","https://openalex.org/W3113524144","https://openalex.org/W3116625396","https://openalex.org/W3160854990","https://openalex.org/W3171656687","https://openalex.org/W3195167903","https://openalex.org/W3213419055","https://openalex.org/W3214874010","https://openalex.org/W4200000120","https://openalex.org/W4206956412","https://openalex.org/W4226402915","https://openalex.org/W4229007397","https://openalex.org/W4237274613","https://openalex.org/W4256486418","https://openalex.org/W4309189149","https://openalex.org/W4312278215","https://openalex.org/W4317583483","https://openalex.org/W6752485866","https://openalex.org/W6759546659","https://openalex.org/W6908509362","https://openalex.org/W6908664175"],"related_works":["https://openalex.org/W4233987368","https://openalex.org/W65954170","https://openalex.org/W1988876749","https://openalex.org/W2182522217","https://openalex.org/W4386001959","https://openalex.org/W4234675952","https://openalex.org/W4304182880","https://openalex.org/W4362659455","https://openalex.org/W2789344126","https://openalex.org/W2985447784"],"abstract_inverted_index":{"Robot":[0],"swarms":[1,77],"are":[2],"becoming":[3],"popular":[4],"in":[5,46],"domains":[6],"that":[7,176],"require":[8],"spatial":[9],"coordination.":[10],"Effective":[11],"human":[12,124],"control":[13,74,112,120,180],"over":[14],"swarm":[15,21,95,108,119,155,182],"members":[16],"is":[17,145],"pivotal":[18],"for":[19,36,72,82],"ensuring":[20],"behaviours":[22],"align":[23],"with":[24,98,132],"the":[25,29,59,88,90,143,181],"dynamic":[26],"needs":[27],"of":[28,75,85,93,142,156,187],"system.":[30],"Several":[31],"techniques":[32,42],"have":[33],"been":[34],"proposed":[35,115],"scalable":[37,73],"human-swarm":[38],"interaction.":[39],"However,":[40],"these":[41],"were":[43],"mostly":[44],"developed":[45],"simple":[47],"simulation":[48],"environments":[49],"without":[50],"guidance":[51],"on":[52,126,137],"how":[53],"to":[54,58,123],"scale":[55],"them":[56],"up":[57],"real":[60],"world.":[61],"This":[62],"paper":[63],"addresses":[64],"this":[65],"research":[66],"gap":[67],"by":[68,147],"proposing":[69],"a":[70,94,99,128,138,148,154,166],"metaverse":[71,116,144],"robot":[76],"and":[78,110,164],"an":[79],"adaptive":[80],"framework":[81],"different":[83,185],"levels":[84,186],"autonomy.":[86],"In":[87],"metaverse,":[89],"physical/real":[91],"world":[92,101],"symbiotically":[96],"blends":[97],"virtual":[100,130,168],"formed":[102],"from":[103],"digital":[104],"twins":[105],"representing":[106],"each":[107,133],"member":[109],"logical":[111],"agents.":[113],"The":[114,140,173],"drastically":[117],"decreases":[118],"complexity":[121],"due":[122],"reliance":[125],"only":[127],"few":[129],"agents,":[131],"agent":[134],"dynamically":[135],"actuating":[136],"sub-swarm.":[139],"utility":[141],"demonstrated":[146],"case":[149],"study":[150],"where":[151],"humans":[152,177],"controlled":[153],"uncrewed":[157,169],"ground":[158],"vehicles":[159],"(UGVs)":[160],"using":[161],"gestural":[162],"communication,":[163],"via":[165],"single":[167],"aerial":[170],"vehicle":[171],"(UAV).":[172],"results":[174],"show":[175],"could":[178],"successfully":[179],"under":[183],"two":[184],"autonomy,":[188],"while":[189],"task":[190],"performance":[191],"increases":[192],"as":[193],"autonomy":[194],"increases.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}