{"id":"https://openalex.org/W7162329355","doi":"https://doi.org/10.48550/arxiv.2605.23553","title":"Sea Trial Validation of the ROS-DESERT Middleware with Autonomous Underwater Vehicles","display_name":"Sea Trial Validation of the ROS-DESERT Middleware with Autonomous Underwater Vehicles","publication_year":2026,"publication_date":"2026-05-22","ids":{"openalex":"https://openalex.org/W7162329355","doi":"https://doi.org/10.48550/arxiv.2605.23553"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.23553","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.23553","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":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.23553","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136924805","display_name":"Davide Cosimo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cosimo, Davide","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136963430","display_name":"Davide Costa","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Costa, Davide","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045093988","display_name":"Riccardo Costanzi","orcid":"https://orcid.org/0000-0001-8600-1976"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Costanzi, Riccardo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074758675","display_name":"Filippo Campagnaro","orcid":"https://orcid.org/0000-0003-0432-7310"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Campagnaro, Filippo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079569776","display_name":"Andrea Caiti","orcid":"https://orcid.org/0000-0002-5780-3299"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Caiti, Andrea","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136906222","display_name":"Michele Zorzi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zorzi, Michele","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9889000058174133,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9889000058174133,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.004399999976158142,"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/T11133","display_name":"UAV Applications and Optimization","score":0.0012000000569969416,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/sea-trial","display_name":"Sea trial","score":0.7730000019073486},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5723000168800354},{"id":"https://openalex.org/keywords/underwater-acoustic-communication","display_name":"Underwater acoustic communication","score":0.5166000127792358},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.4945000112056732},{"id":"https://openalex.org/keywords/middleware","display_name":"Middleware (distributed applications)","score":0.4880000054836273},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.4837000072002411},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.4772999882698059},{"id":"https://openalex.org/keywords/software-architecture","display_name":"Software architecture","score":0.4625999927520752},{"id":"https://openalex.org/keywords/interoperability","display_name":"Interoperability","score":0.44190001487731934},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4138999879360199}],"concepts":[{"id":"https://openalex.org/C19724227","wikidata":"https://www.wikidata.org/wiki/Q1988181","display_name":"Sea trial","level":2,"score":0.7730000019073486},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5723000168800354},{"id":"https://openalex.org/C169111936","wikidata":"https://www.wikidata.org/wiki/Q424098","display_name":"Underwater acoustic communication","level":3,"score":0.5166000127792358},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.4945000112056732},{"id":"https://openalex.org/C169468491","wikidata":"https://www.wikidata.org/wiki/Q146923","display_name":"Middleware (distributed applications)","level":2,"score":0.4880000054836273},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.4837000072002411},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.4772999882698059},{"id":"https://openalex.org/C35869016","wikidata":"https://www.wikidata.org/wiki/Q846636","display_name":"Software architecture","level":3,"score":0.4625999927520752},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4481000006198883},{"id":"https://openalex.org/C20136886","wikidata":"https://www.wikidata.org/wiki/Q749647","display_name":"Interoperability","level":2,"score":0.44190001487731934},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4138999879360199},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4138000011444092},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.4065000116825104},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.397599995136261},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38999998569488525},{"id":"https://openalex.org/C98025372","wikidata":"https://www.wikidata.org/wiki/Q477538","display_name":"Systems architecture","level":3,"score":0.37470000982284546},{"id":"https://openalex.org/C38601921","wikidata":"https://www.wikidata.org/wiki/Q1757693","display_name":"Protocol stack","level":3,"score":0.37459999322891235},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.36980000138282776},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.36719998717308044},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.36250001192092896},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35589998960494995},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.3398999869823456},{"id":"https://openalex.org/C101765175","wikidata":"https://www.wikidata.org/wiki/Q577764","display_name":"Communications system","level":2,"score":0.3167000114917755},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.3122999966144562},{"id":"https://openalex.org/C110071780","wikidata":"https://www.wikidata.org/wiki/Q6057342","display_name":"Intervention AUV","level":5,"score":0.30889999866485596},{"id":"https://openalex.org/C12269588","wikidata":"https://www.wikidata.org/wiki/Q132364","display_name":"Communications protocol","level":2,"score":0.3043000102043152},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.30000001192092896},{"id":"https://openalex.org/C86338984","wikidata":"https://www.wikidata.org/wiki/Q79708","display_name":"General Packet Radio Service","level":3,"score":0.2856999933719635},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.28529998660087585},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.28360000252723694},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.274399995803833},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.26969999074935913},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2612000107765198},{"id":"https://openalex.org/C174683762","wikidata":"https://www.wikidata.org/wiki/Q609588","display_name":"Component-based software engineering","level":4,"score":0.260699987411499},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.25690001249313354},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.2556999921798706},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.2556000053882599}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.23553","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.23553","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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.23553","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.23553","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":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.6486461758613586,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0,58],"paper":[1],"presents":[2],"a":[3,25,44,81,91,134],"modular":[4],"software":[5,109],"architecture":[6,23,86,193],"that":[7,95,146],"enables":[8,60],"environmental-aware":[9],"coordination":[10],"of":[11,64,72,120,130,158,190],"heterogeneous":[12],"Autonomous":[13],"Underwater":[14,35],"Vehicles":[15],"(AUVs)":[16],"to":[17,50,75,89,102],"improve":[18,103],"underwater":[19],"acoustic":[20,104],"connectivity.":[21],"The":[22,107],"combines":[24],"Robot":[26,45],"Operating":[27,46],"System":[28,47],"2":[29],"application":[30],"layer":[31],"with":[32,53,126,139],"the":[33,39,65,118,169,180,184,191],"DESERT":[34],"communication":[36,66,78],"framework":[37],"through":[38,113],"rmw_desert":[40],"middleware,":[41],"and":[42,68,99,187],"integrates":[43],"1":[48],"bridge":[49],"ensure":[51],"interoperability":[52],"legacy":[54],"vehicle":[55],"front-seat":[56],"controllers.":[57],"design":[59],"fine-grained,":[61],"cross-layer":[62],"configurability":[63],"stack":[67,110],"supports":[69],"onboard":[70],"processing":[71],"environmental":[73,97],"measurements":[74],"inform":[76],"adaptive":[77],"behaviors.":[79],"As":[80],"representative":[82],"use":[83],"case,":[84],"this":[85],"is":[87,111],"used":[88],"implement":[90],"lightweight":[92],"depth-optimization":[93],"strategy":[94],"exploits":[96],"awareness":[98],"AUV":[100,196],"mobility":[101],"link":[105],"performance.":[106],"complete":[108],"validated":[112],"sea":[114,181],"trials":[115,182],"conducted":[116],"off":[117],"Gulf":[119],"La":[121],"Spezia":[122],"in":[123,152],"littoral":[124],"water":[125],"an":[127],"average":[128],"depth":[129],"approximately":[131,159],"100m":[132],"using":[133],"deployment":[135],"involving":[136],"three":[137],"AUVs":[138],"distinct":[140],"operational":[141],"roles.":[142],"Experimental":[143],"results":[144],"indicate":[145],"depth-adaptive":[147],"repositioning":[148],"yields":[149],"measurable":[150],"gains":[151],"packet":[153],"reception":[154],"at":[155,165],"horizontal":[156],"separation":[157],"1km,":[160],"while":[161],"differences":[162],"are":[163],"negligible":[164],"shorter":[166],"ranges":[167],"where":[168],"received":[170],"signal":[171],"energy":[172],"remains":[173],"above":[174],"demodulation":[175],"thresholds.":[176],"Beyond":[177],"link-level":[178],"performance":[179],"confirm":[183],"feasibility,":[185],"modularity,":[186],"practical":[188],"deployability":[189],"proposed":[192],"on":[194],"existing":[195],"platforms.":[197]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-26T00:00:00"}