{"id":"https://openalex.org/W2076861422","doi":"https://doi.org/10.1109/alife.2013.6602434","title":"Decentralized approach to evolve the structure of metamorphic robots","display_name":"Decentralized approach to evolve the structure of metamorphic robots","publication_year":2013,"publication_date":"2013-04-01","ids":{"openalex":"https://openalex.org/W2076861422","doi":"https://doi.org/10.1109/alife.2013.6602434","mag":"2076861422"},"language":"en","primary_location":{"id":"doi:10.1109/alife.2013.6602434","doi":"https://doi.org/10.1109/alife.2013.6602434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/alife.2013.6602434","pdf_url":null,"source":{"id":"https://openalex.org/S7407086281","display_name":"IEEE Symposium on Artificial Life (ALIFE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE Symposium on Artificial Life (ALife)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://oatao.univ-toulouse.fr/12449/1/Ababsa_12449.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071781529","display_name":"Tarek Ababsa","orcid":"https://orcid.org/0000-0002-1926-209X","observed_orcids":["https://orcid.org/0000-0002-1926-209X"]},"institutions":[{"id":"https://openalex.org/I206961696","display_name":"University of Biskra","ror":"https://ror.org/05fr5y859","country_code":"DZ","type":"education","lineage":["https://openalex.org/I206961696"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Tarek Ababsa","raw_affiliation_strings":["LESIA Team, Computer Science Department, University of Mohamed Khider, Biskra, Algeria","Comput. Sci. Dept., Univ. Mohamed Khider, Biskra, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LESIA Team, Computer Science Department, University of Mohamed Khider, Biskra, Algeria","institution_ids":["https://openalex.org/I206961696"]},{"raw_affiliation_string":"Comput. Sci. Dept., Univ. Mohamed Khider, Biskra, Algeria","institution_ids":["https://openalex.org/I206961696"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032623335","display_name":"Noureddine Djedi","orcid":"https://orcid.org/0000-0002-1796-8603","observed_orcids":["https://orcid.org/0000-0002-1796-8603"]},"institutions":[{"id":"https://openalex.org/I206961696","display_name":"University of Biskra","ror":"https://ror.org/05fr5y859","country_code":"DZ","type":"education","lineage":["https://openalex.org/I206961696"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Noureddine Djedi","raw_affiliation_strings":["LESIA Team, Computer Science Department, University of Mohamed Khider, Biskra, Algeria","Comput. Sci. Dept., Univ. Mohamed Khider, Biskra, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LESIA Team, Computer Science Department, University of Mohamed Khider, Biskra, Algeria","institution_ids":["https://openalex.org/I206961696"]},{"raw_affiliation_string":"Comput. Sci. Dept., Univ. Mohamed Khider, Biskra, Algeria","institution_ids":["https://openalex.org/I206961696"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102990952","display_name":"Yves Duthen","orcid":"https://orcid.org/0000-0003-3877-9489","observed_orcids":["https://orcid.org/0000-0003-3877-9489"]},"institutions":[{"id":"https://openalex.org/I3131550300","display_name":"Universit\u00e9 Toulouse-I-Capitole","ror":"https://ror.org/0443n9e75","country_code":"FR","type":"education","lineage":["https://openalex.org/I3131550300","https://openalex.org/I4405259414"]},{"id":"https://openalex.org/I4210119061","display_name":"Institut de Recherche en Informatique de Toulouse","ror":"https://ror.org/01rx4qw44","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I205747304","https://openalex.org/I4210119061","https://openalex.org/I4210152422","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]},{"id":"https://openalex.org/I4405258862","display_name":"Universit\u00e9 de Toulouse","ror":"https://ror.org/01ahyrz84","country_code":"FR","type":"education","lineage":["https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Yves Duthen","raw_affiliation_strings":["Vortex Team (IRIT), University of Toulouse, Toulouse, France","Vortex Team (IRIT), Univ. Toulouse 1 - Capitole, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vortex Team (IRIT), University of Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I4210119061","https://openalex.org/I4405258862"]},{"raw_affiliation_string":"Vortex Team (IRIT), Univ. Toulouse 1 - Capitole, Toulouse, France","institution_ids":["https://openalex.org/I3131550300","https://openalex.org/I4210119061"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011627812","display_name":"Sylvain Cussat\u2010Blanc","orcid":"https://orcid.org/0000-0003-1360-1932","observed_orcids":["https://orcid.org/0000-0003-1360-1932"]},"institutions":[{"id":"https://openalex.org/I3131550300","display_name":"Universit\u00e9 Toulouse-I-Capitole","ror":"https://ror.org/0443n9e75","country_code":"FR","type":"education","lineage":["https://openalex.org/I3131550300","https://openalex.org/I4405259414"]},{"id":"https://openalex.org/I4210119061","display_name":"Institut de Recherche en Informatique de Toulouse","ror":"https://ror.org/01rx4qw44","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I205747304","https://openalex.org/I4210119061","https://openalex.org/I4210152422","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]},{"id":"https://openalex.org/I4405258862","display_name":"Universit\u00e9 de Toulouse","ror":"https://ror.org/01ahyrz84","country_code":"FR","type":"education","lineage":["https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Sylvain Cussat Blanc","raw_affiliation_strings":["Vortex Team (IRIT), University of Toulouse, Toulouse, France","Vortex Team (IRIT), Univ. Toulouse 1 - Capitole, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vortex Team (IRIT), University of Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I4210119061","https://openalex.org/I4405258862"]},{"raw_affiliation_string":"Vortex Team (IRIT), Univ. Toulouse 1 - Capitole, Toulouse, France","institution_ids":["https://openalex.org/I3131550300","https://openalex.org/I4210119061"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0215,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.75389408,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":93},"biblio":{"volume":"23","issue":null,"first_page":"74","last_page":"81"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.0,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.0,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/metamorphic-robots","display_name":"metamorphic robots","score":1.0},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"genetic algorithm","score":0.4779999852180481},{"id":"https://openalex.org/keywords/modular-robotics","display_name":"modular robots","score":0.47999998927116394},{"id":"https://openalex.org/keywords/shape-changing-robots","display_name":"shape-changing robots","score":0.7310000061988831},{"id":"https://openalex.org/keywords/structural-evolution","display_name":"structural evolution","score":0.49399998784065247}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8301980495452881},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6967477798461914},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.5138264298439026},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.44137340784072876},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.43272462487220764},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.40480223298072815},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36142200231552124},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/alife.2013.6602434","doi":"https://doi.org/10.1109/alife.2013.6602434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/alife.2013.6602434","pdf_url":null,"source":{"id":"https://openalex.org/S7407086281","display_name":"IEEE Symposium on Artificial Life (ALIFE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE Symposium on Artificial Life (ALife)","raw_type":"proceedings-article"},{"id":"pmh:oai:oatao.univ-toulouse.fr:12449","doi":null,"is_oa":true,"landing_page_url":"http://oatao.univ-toulouse.fr/12449/1/Ababsa_12449.pdf","pdf_url":"http://oatao.univ-toulouse.fr/12449/1/Ababsa_12449.pdf","source":{"id":"https://openalex.org/S4306401987","display_name":"Open Archive Toulouse Archive Ouverte (University of Toulouse)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I17866349","host_organization_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","host_organization_lineage":["https://openalex.org/I17866349"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:publications.ut-capitole.fr:30212","doi":null,"is_oa":false,"landing_page_url":"http://publications.ut-capitole.fr/30212/1/30212.pdf","pdf_url":"http://publications.ut-capitole.fr/30212/1/30212.pdf","source":{"id":"https://openalex.org/S4306401335","display_name":"Toulouse 1 Capitole Publications (Universit\u00e9 Toulouse I Capitole)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I3131550300","host_organization_name":"Universit\u00e9 Toulouse-I-Capitole","host_organization_lineage":["https://openalex.org/I3131550300"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"},{"id":"pmh:oai:HAL:hal-01150342v1","doi":null,"is_oa":true,"landing_page_url":"https://hal.science/hal-01150342","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4405252976","host_organization_name":"Centre pour la Communication Scientifique Directe","host_organization_lineage":["https://openalex.org/I4405252976"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Symposium on Artificial Life - ALIFE 2013, Apr 2013, Singapore, Singapore. pp. 74-81","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:oatao.univ-toulouse.fr:12449","doi":null,"is_oa":true,"landing_page_url":"http://oatao.univ-toulouse.fr/12449/1/Ababsa_12449.pdf","pdf_url":"http://oatao.univ-toulouse.fr/12449/1/Ababsa_12449.pdf","source":{"id":"https://openalex.org/S4306401987","display_name":"Open Archive Toulouse Archive Ouverte (University of Toulouse)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I17866349","host_organization_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","host_organization_lineage":["https://openalex.org/I17866349"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1543519602","https://openalex.org/W1561791008","https://openalex.org/W1792616196","https://openalex.org/W1909393615","https://openalex.org/W1951042395","https://openalex.org/W1995417003","https://openalex.org/W2099032798","https://openalex.org/W2104005082","https://openalex.org/W2125095860","https://openalex.org/W2132817270","https://openalex.org/W2164304210","https://openalex.org/W2937643529","https://openalex.org/W3133494982","https://openalex.org/W4237984123"],"related_works":["https://openalex.org/W3022382816","https://openalex.org/W2153005597","https://openalex.org/W7098608850","https://openalex.org/W2393048784","https://openalex.org/W7101044631","https://openalex.org/W1504050528","https://openalex.org/W7101073878","https://openalex.org/W2329802244","https://openalex.org/W85410742","https://openalex.org/W1585577797"],"abstract_inverted_index":{"Metamorphic":[0],"robots":[1,3,46,52],"are":[2,53,63],"that":[4,62],"can":[5],"change":[6],"their":[7,14],"shape":[8],"by":[9],"reorganizing":[10],"the":[11,80,98,124,141,148],"connectivity":[12],"of":[13,39,42,58,110],"modules":[15,61,82,137],"to":[16,18,65,85,106,132,139,147],"adapt":[17],"new":[19,22],"environments,":[20],"perform":[21],"tasks,":[23],"or":[24,67,73],"recover":[25],"from":[26,70,120,143],"damages.":[27],"In":[28],"this":[29],"paper":[30],"we":[31],"present":[32],"a":[33,40,48,56,101,108,127,134],"decentralized":[34],"method":[35],"for":[36,136],"structural":[37],"evolving":[38],"class":[41],"lattice-based":[43],"simulated":[44],"metamorphic":[45],"in":[47,83,94,97,123,152],"static":[49],"environment.":[50],"These":[51],"considered":[54],"as":[55],"set":[57],"crystalline":[59],"(compressible)":[60],"able":[64],"connect":[66],"disconnect":[68],"one":[69],"each":[71],"another":[72],"even":[74],"exchange":[75],"information":[76,118],"and":[77],"energy":[78],"with":[79],"neighbor":[81],"order":[84],"form":[86],"various":[87],"structures/patterns":[88],"dynamically.":[89],"Our":[90],"approach":[91],"is":[92,104,130],"spited":[93],"two":[95],"layers:":[96],"first":[99,153],"layer":[100,126],"genetic":[102],"algorithm":[103,129],"used":[105,131],"generate":[107],"number":[109],"well":[111],"suited":[112],"target":[113,149],"configurations":[114],"based":[115],"on":[116],"current":[117,145],"perceived":[119],"environment,":[121],"while":[122],"second":[125],"PacMan-like":[128],"make":[133],"plan":[135],"movement":[138],"transform":[140],"robot":[142],"its":[144],"pattern":[146,150],"emerged":[151],"layer.":[154]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-10-25T09:29:13.331239","created_date":"2016-06-24T00:00:00"}