{"id":"https://openalex.org/W7135223565","doi":"https://doi.org/10.48550/arxiv.2603.11085","title":"Edge-Assisted Multi-Robot Visual-Inertial SLAM with Efficient Communication","display_name":"Edge-Assisted Multi-Robot Visual-Inertial SLAM with Efficient Communication","publication_year":2026,"publication_date":"2026-03-11","ids":{"openalex":"https://openalex.org/W7135223565","doi":"https://doi.org/10.48550/arxiv.2603.11085"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.11085","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.11085","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.11085","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128964184","display_name":"Xin Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Xin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103129337","display_name":"Shuhuan Wen","orcid":"https://orcid.org/0000-0002-7646-4958"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wen, Shuhuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129019262","display_name":"Jing Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Jing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055356431","display_name":"Tony Z. Qiu","orcid":"https://orcid.org/0000-0001-6120-3619"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qiu, Tony Z.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128936812","display_name":"Hong Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Hong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8878999948501587,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8878999948501587,"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/T13382","display_name":"Robotics and Automated Systems","score":0.050200000405311584,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.010599999688565731,"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/cloud-computing","display_name":"Cloud computing","score":0.588699996471405},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.49320000410079956},{"id":"https://openalex.org/keywords/edge-computing","display_name":"Edge computing","score":0.4828999936580658},{"id":"https://openalex.org/keywords/data-compression","display_name":"Data compression","score":0.45730000734329224},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.44029998779296875},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4269999861717224},{"id":"https://openalex.org/keywords/pyramid","display_name":"Pyramid (geometry)","score":0.4043999910354614},{"id":"https://openalex.org/keywords/data-transmission","display_name":"Data transmission","score":0.4027999937534332}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7972000241279602},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.588699996471405},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.531000018119812},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.49320000410079956},{"id":"https://openalex.org/C2778456923","wikidata":"https://www.wikidata.org/wiki/Q5337692","display_name":"Edge computing","level":3,"score":0.4828999936580658},{"id":"https://openalex.org/C78548338","wikidata":"https://www.wikidata.org/wiki/Q2493","display_name":"Data compression","level":2,"score":0.45730000734329224},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.44029998779296875},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4269999861717224},{"id":"https://openalex.org/C142575187","wikidata":"https://www.wikidata.org/wiki/Q3358290","display_name":"Pyramid (geometry)","level":2,"score":0.4043999910354614},{"id":"https://openalex.org/C557945733","wikidata":"https://www.wikidata.org/wiki/Q389772","display_name":"Data transmission","level":2,"score":0.4027999937534332},{"id":"https://openalex.org/C81081738","wikidata":"https://www.wikidata.org/wiki/Q55542","display_name":"Lossless compression","level":3,"score":0.35510000586509705},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34380000829696655},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3433000147342682},{"id":"https://openalex.org/C179518139","wikidata":"https://www.wikidata.org/wiki/Q5140297","display_name":"Coding (social sciences)","level":2,"score":0.33219999074935913},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.3183000087738037},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.3140999972820282},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3125},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.30889999866485596},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.30329999327659607},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.29100000858306885},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.27970001101493835},{"id":"https://openalex.org/C489000","wikidata":"https://www.wikidata.org/wiki/Q747385","display_name":"Data flow diagram","level":2,"score":0.2761000096797943},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2734000086784363},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.26969999074935913},{"id":"https://openalex.org/C101765175","wikidata":"https://www.wikidata.org/wiki/Q577764","display_name":"Communications system","level":2,"score":0.2612000107765198},{"id":"https://openalex.org/C113775141","wikidata":"https://www.wikidata.org/wiki/Q428691","display_name":"Computer engineering","level":1,"score":0.2522999942302704}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.11085","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.11085","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.11085","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.11085","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0],"integration":[1],"of":[2,30,37,59,68,76,83,119,128,171,180],"cloud":[3,53],"computing":[4,7,25,122],"and":[5,16,21,34,43,51,71,124,138,143,146,174,213],"edge":[6],"is":[8,92,108],"an":[9],"effective":[10],"way":[11],"to":[12,110,151],"achieve":[13,207,225],"global":[14],"consistent":[15],"real-time":[17,74,112,153],"multi-robot":[18,60,99,220],"Simultaneous":[19],"Localization":[20],"Mapping":[22],"(SLAM).":[23],"Cloud":[24],"effectively":[26],"solves":[27],"the":[28,52,65,73,77,117,135,164,169,178,191,196,216,226],"problem":[29],"limited":[31,41,120,158],"computing,":[32],"communication":[33,46],"storage":[35],"capacity":[36],"terminal":[38,49],"equipment.":[39],"However,":[40],"bandwidth":[42,159,166],"extremely":[44],"long":[45],"links":[47],"between":[48],"devices":[50],"result":[54],"in":[55,168],"serious":[56],"performance":[57,75],"degradation":[58],"SLAM":[61,81,100,181,221],"systems.":[62],"To":[63],"reduce":[64],"computational":[66,234],"cost":[67],"feature":[69,136,201,211],"tracking":[70,86],"improve":[72],"robot,":[78],"a":[79,97,104],"lightweight":[80],"method":[82,205],"optical":[84],"flow":[85],"based":[87,102],"on":[88,103,190],"pyramid":[89],"IMU":[90],"prediction":[91],"proposed.":[93],"On":[94],"this":[95,132],"basis,":[96],"centralized":[98,219],"system":[101],"robot-edge-cloud":[105],"layered":[106],"architecture":[107],"proposed":[109],"realize":[111,152],"collaborative":[113],"SLAM.":[114],"It":[115],"avoids":[116],"problems":[118],"on-board":[121],"resources":[123],"low":[125,233],"execution":[126],"efficiency":[127],"single":[129],"robot.":[130],"In":[131],"framework,":[133],"only":[134],"points":[137],"keyframe":[139],"descriptors":[140],"are":[141,148],"transmitted":[142],"lossless":[144],"encoding":[145],"compression":[147,202],"carried":[149],"out":[150],"remote":[154],"information":[155],"transmission":[156],"with":[157,195,215],"resources.":[160],"This":[161],"design":[162],"reduces":[163],"actual":[165],"occupied":[167],"process":[170],"data":[172,185,209],"transmission,":[173,212],"does":[175],"not":[176],"cause":[177],"loss":[179],"accuracy":[182,231],"caused":[183],"by":[184],"compression.":[186],"Through":[187],"experimental":[188],"verification":[189],"EuRoC":[192],"dataset,":[193],"compared":[194,214],"current":[197,217],"most":[198],"advanced":[199,218],"local":[200],"method,":[203],"our":[204],"can":[206,224],"lower":[208],"volume":[210],"scheme,":[222],"it":[223],"same":[227],"or":[228],"better":[229],"positioning":[230],"under":[232],"load.":[235]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-14T00:00:00"}
