{"id":"https://openalex.org/W7137929751","doi":"https://doi.org/10.48550/arxiv.2603.13502","title":"Safety-aware Goal-oriented Semantic Sensing, Communication, and Control for Robotics","display_name":"Safety-aware Goal-oriented Semantic Sensing, Communication, and Control for Robotics","publication_year":2026,"publication_date":"2026-03-13","ids":{"openalex":"https://openalex.org/W7137929751","doi":"https://doi.org/10.48550/arxiv.2603.13502"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.13502","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.13502","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2603.13502","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5129653904","display_name":"Wenchao Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Wu, Wenchao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129679682","display_name":"Shutong Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Shutong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129735696","display_name":"Wenjie Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Wenjie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070930704","display_name":"Zhibo Pang","orcid":"https://orcid.org/0000-0002-7474-4294"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pang, Zhibo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129696246","display_name":"Yansha Deng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Deng, Yansha","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Schober, Robert","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Schober, Robert","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5129653904"],"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/T11133","display_name":"UAV Applications and Optimization","score":0.5055999755859375,"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/T11133","display_name":"UAV Applications and Optimization","score":0.5055999755859375,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.035100001841783524,"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"}},{"id":"https://openalex.org/T12131","display_name":"Wireless Signal Modulation Classification","score":0.031199999153614044,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/robot","display_name":"Robot","score":0.6513000130653381},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6462000012397766},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6108999848365784},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.5422999858856201},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3971000015735626},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.38940000534057617},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.33169999718666077}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6865000128746033},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6513000130653381},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6462000012397766},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6108999848365784},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5982000231742859},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.5422999858856201},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4007999897003174},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3971000015735626},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.38940000534057617},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.33169999718666077},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.31290000677108765},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.30079999566078186},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3005000054836273},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.30000001192092896},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.29249998927116394},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2687000036239624},{"id":"https://openalex.org/C101765175","wikidata":"https://www.wikidata.org/wiki/Q577764","display_name":"Communications system","level":2,"score":0.25110000371932983}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.13502","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.13502","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.13502","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.13502","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.744322657585144,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Wirelessly-connected":[0],"robotic":[1,46,112,118,133],"systems":[2,47,134],"empower":[3],"robots":[4,20],"with":[5],"real-time":[6],"intelligence":[7],"by":[8,210],"leveraging":[9],"remote":[10],"computing":[11],"resources":[12],"for":[13,44],"decision-making.":[14],"However,":[15],"the":[16,117,149,156,191],"data":[17],"exchange":[18],"between":[19],"and":[21,50,86,107,135,145,159,165,206,215],"edge":[22],"servers":[23],"often":[24,71],"overwhelms":[25],"communication":[26,39],"links,":[27],"introducing":[28],"latency":[29],"that":[30,188],"degrades":[31],"task":[32,59,119],"performance.":[33],"To":[34,92],"tackle":[35],"this,":[36],"goal-oriented":[37,102],"semantic":[38,54,103],"(GSC)":[40],"has":[41],"been":[42],"introduced":[43],"wirelessly-connected":[45,111,132],"to":[48,99,115,122],"extract":[49],"transmit":[51],"only":[52],"goal-relevant":[53],"representations.":[55],"While":[56],"this":[57,94],"improves":[58],"effectiveness,":[60],"it":[61],"generally":[62],"overlooks":[63],"practical":[64,123],"safety":[65,73,82,124,143,158,204],"requirements.":[66,125],"Meanwhile,":[67],"existing":[68],"robotics":[69],"research":[70,175,194],"treats":[72],"primarily":[74],"as":[75],"a":[76,89],"control-level":[77],"problem,":[78],"without":[79],"systematically":[80,154],"considering":[81],"across":[83,148],"sensing,":[84,105,163],"communication,":[85,106,164],"control":[87,108],"in":[88,110,162],"closed-loop":[90],"manner.":[91],"bridge":[93],"gap,":[95],"we":[96,153,170],"investigate":[97],"how":[98],"enable":[100],"safety-aware":[101],"(SA-GS)":[104],"co-design":[109],"systems,":[113],"aiming":[114],"maximize":[116],"effectiveness":[120,146,160],"subject":[121],"We":[126,139],"first":[127],"introduce":[128],"{an}":[129],"architecture":[130],"{for}":[131],"representative":[136],"use":[137,150],"cases.":[138,151],"then":[140],"summarize":[141],"general":[142],"requirements":[144],"metrics":[147],"Next,":[152],"analyze":[155],"unique":[157],"challenges":[161],"control.":[166],"Based":[167],"on":[168],"these,":[169],"further":[171],"present":[172],"potential":[173],"SA-GS":[174,193],"directions.":[176],"Finally,":[177],"an":[178],"Unmanned":[179],"Aerial":[180],"Vehicle":[181],"(UAV)":[182],"target":[183],"tracking":[184,207],"case":[185],"study":[186],"validates":[187],"one":[189],"of":[190],"presented":[192],"directions,":[195],"i.e.,":[196],"semantic-based":[197],"C\\&amp;C":[198],"packet":[199],"execution,":[200],"could":[201],"significantly":[202],"improve":[203],"rate":[205,209],"success":[208],"more":[211],"than":[212],"2":[213],"times":[214],"4.5":[216],"times,":[217],"respectively.":[218]},"counts_by_year":[],"updated_date":"2026-04-29T06:10:49.150238","created_date":"2026-03-18T00:00:00"}
