Heterogeneous Event Mapping of Multi‐Robot System Based on Event Structures.
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| Title: | Heterogeneous Event Mapping of Multi‐Robot System Based on Event Structures. |
|---|---|
| Authors: | Zhang, Xuewei1 (AUTHOR), Han, Deshuai2 (AUTHOR), Yang, Qiliang1 (AUTHOR), Chen, Wenjie1 (AUTHOR), Wang, Ronghao1 (AUTHOR) wrh@893.com.cn |
| Source: | Journal of Field Robotics. Sep2025, Vol. 42 Issue 6, p2594-2610. 17p. |
| Subjects: | Event processing (Computer science), Matching theory, Aggregation (Robotics), Routing algorithms, Data logging, Problem solving |
| Abstract: | Heterogeneous event mapping is a critical challenge in multi‐robot system, where diverse robots generate event logs with opaque names and inconsistent formats due to subsystem heterogeneity. However, existing techniques are inappropriate because they do not make full use of workflow features in event logs. We observe that several types of event constraints in event logs may serve as more discriminative features in event matching. Therefore, a novel approach is proposed to address the above problem by leveraging event structures as discriminative feature for heterogeneous event mapping. Specifically, the event structure captures behavioral constraints in event logs to provide a robust foundation for event mapping. To enhance matching efficiency, we devise an advanced A* search algorithm with a tight upper bound, which effectively prunes nonoptimal mappings and avoid the space explosion problem. Furthermore, a prototype system is implemented that automatically calculates the optimal mapping score between heterogeneous events. Based on this, extensive experiments on both real and synthetic data sets demonstrate that our approach outperforms state‐of‐the‐art approaches in accuracy, efficiency, and scalability. This work provides a robust solution for seamless coordination and data sharing in MRS, with potential applications in autonomous navigation, collaborative robotics, and human–robot interaction. [ABSTRACT FROM AUTHOR] |
| Copyright of Journal of Field Robotics is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
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| Header | DbId: egs DbLabel: Engineering Source An: 187456283 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Heterogeneous Event Mapping of Multi‐Robot System Based on Event Structures. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Zhang%2C+Xuewei%22">Zhang, Xuewei</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Han%2C+Deshuai%22">Han, Deshuai</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Yang%2C+Qiliang%22">Yang, Qiliang</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Chen%2C+Wenjie%22">Chen, Wenjie</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Wang%2C+Ronghao%22">Wang, Ronghao</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> wrh@893.com.cn</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Journal+of+Field+Robotics%22">Journal of Field Robotics</searchLink>. Sep2025, Vol. 42 Issue 6, p2594-2610. 17p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Event+processing+%28Computer+science%29%22">Event processing (Computer science)</searchLink><br /><searchLink fieldCode="DE" term="%22Matching+theory%22">Matching theory</searchLink><br /><searchLink fieldCode="DE" term="%22Aggregation+%28Robotics%29%22">Aggregation (Robotics)</searchLink><br /><searchLink fieldCode="DE" term="%22Routing+algorithms%22">Routing algorithms</searchLink><br /><searchLink fieldCode="DE" term="%22Data+logging%22">Data logging</searchLink><br /><searchLink fieldCode="DE" term="%22Problem+solving%22">Problem solving</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: Heterogeneous event mapping is a critical challenge in multi‐robot system, where diverse robots generate event logs with opaque names and inconsistent formats due to subsystem heterogeneity. However, existing techniques are inappropriate because they do not make full use of workflow features in event logs. We observe that several types of event constraints in event logs may serve as more discriminative features in event matching. Therefore, a novel approach is proposed to address the above problem by leveraging event structures as discriminative feature for heterogeneous event mapping. Specifically, the event structure captures behavioral constraints in event logs to provide a robust foundation for event mapping. To enhance matching efficiency, we devise an advanced A* search algorithm with a tight upper bound, which effectively prunes nonoptimal mappings and avoid the space explosion problem. Furthermore, a prototype system is implemented that automatically calculates the optimal mapping score between heterogeneous events. Based on this, extensive experiments on both real and synthetic data sets demonstrate that our approach outperforms state‐of‐the‐art approaches in accuracy, efficiency, and scalability. This work provides a robust solution for seamless coordination and data sharing in MRS, with potential applications in autonomous navigation, collaborative robotics, and human–robot interaction. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Journal of Field Robotics is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1002/rob.22534 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 17 StartPage: 2594 Subjects: – SubjectFull: Event processing (Computer science) Type: general – SubjectFull: Matching theory Type: general – SubjectFull: Aggregation (Robotics) Type: general – SubjectFull: Routing algorithms Type: general – SubjectFull: Data logging Type: general – SubjectFull: Problem solving Type: general Titles: – TitleFull: Heterogeneous Event Mapping of Multi‐Robot System Based on Event Structures. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Zhang, Xuewei – PersonEntity: Name: NameFull: Han, Deshuai – PersonEntity: Name: NameFull: Yang, Qiliang – PersonEntity: Name: NameFull: Chen, Wenjie – PersonEntity: Name: NameFull: Wang, Ronghao IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 09 Text: Sep2025 Type: published Y: 2025 Identifiers: – Type: issn-print Value: 15564959 Numbering: – Type: volume Value: 42 – Type: issue Value: 6 Titles: – TitleFull: Journal of Field Robotics Type: main |
| ResultId | 1 |
