{"id":"https://openalex.org/W3158732870","doi":"https://doi.org/10.1007/978-3-030-75100-5_29","title":"Cluster-Based Distributed Self-reconfiguration Algorithm for Modular Robots","display_name":"Cluster-Based Distributed Self-reconfiguration Algorithm for Modular Robots","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3158732870","doi":"https://doi.org/10.1007/978-3-030-75100-5_29","mag":"3158732870"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-030-75100-5_29","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-75100-5_29","pdf_url":null,"source":{"id":"https://openalex.org/S4210169156","display_name":"Lecture notes in networks and systems","issn_l":"2367-3370","issn":["2367-3370","2367-3389"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Networks and Systems","raw_type":"book-chapter"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027833232","display_name":"Mohamad Moussa","orcid":"https://orcid.org/0009-0000-6028-7443"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4405256580","https://openalex.org/I53262699"]},{"id":"https://openalex.org/I4210118524","display_name":"Universit\u00e9 Bourgogne Franche-Comt\u00e9","ror":"https://ror.org/02dn7x778","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210118524"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Mohamad Moussa","raw_affiliation_strings":["FEMTO-ST Institute, University Bourgogne Franche-Comt\u00e9, CNRS, Montb\u00e9liard, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FEMTO-ST Institute, University Bourgogne Franche-Comt\u00e9, CNRS, Montb\u00e9liard, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I4210118524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073027632","display_name":"Beno\u00eet Piranda","orcid":"https://orcid.org/0000-0003-2149-871X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4405256580","https://openalex.org/I53262699"]},{"id":"https://openalex.org/I4210118524","display_name":"Universit\u00e9 Bourgogne Franche-Comt\u00e9","ror":"https://ror.org/02dn7x778","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210118524"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Benoit Piranda","raw_affiliation_strings":["FEMTO-ST Institute, University Bourgogne Franche-Comt\u00e9, CNRS, Montb\u00e9liard, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FEMTO-ST Institute, University Bourgogne Franche-Comt\u00e9, CNRS, Montb\u00e9liard, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I4210118524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070973485","display_name":"Abdallah Makhoul","orcid":"https://orcid.org/0000-0003-0485-097X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4405256580","https://openalex.org/I53262699"]},{"id":"https://openalex.org/I4210118524","display_name":"Universit\u00e9 Bourgogne Franche-Comt\u00e9","ror":"https://ror.org/02dn7x778","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210118524"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Abdallah Makhoul","raw_affiliation_strings":["FEMTO-ST Institute, University Bourgogne Franche-Comt\u00e9, CNRS, Montb\u00e9liard, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FEMTO-ST Institute, University Bourgogne Franche-Comt\u00e9, CNRS, Montb\u00e9liard, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I4210118524"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042816178","display_name":"Julien Bourgeois","orcid":"https://orcid.org/0000-0002-0686-2643"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4405256580","https://openalex.org/I53262699"]},{"id":"https://openalex.org/I4210118524","display_name":"Universit\u00e9 Bourgogne Franche-Comt\u00e9","ror":"https://ror.org/02dn7x778","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210118524"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Julien Bourgeois","raw_affiliation_strings":["FEMTO-ST Institute, University Bourgogne Franche-Comt\u00e9, CNRS, Montb\u00e9liard, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FEMTO-ST Institute, University Bourgogne Franche-Comt\u00e9, CNRS, Montb\u00e9liard, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I4210118524"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"332","last_page":"344"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.9700999855995178,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9682999849319458,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/control-reconfiguration","display_name":"Control reconfiguration","score":0.9565061330795288},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.8222794532775879},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7443528175354004},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.6934751868247986},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6740905046463013},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.6084609031677246},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5574886798858643},{"id":"https://openalex.org/keywords/cluster","display_name":"Cluster (spacecraft)","score":0.5110124349594116},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5014569759368896},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.465302050113678},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3742806911468506},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20685619115829468},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.18975219130516052},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1758984625339508},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.11172854900360107},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.0694623589515686}],"concepts":[{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.9565061330795288},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.8222794532775879},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7443528175354004},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.6934751868247986},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6740905046463013},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.6084609031677246},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5574886798858643},{"id":"https://openalex.org/C164866538","wikidata":"https://www.wikidata.org/wiki/Q367351","display_name":"Cluster (spacecraft)","level":2,"score":0.5110124349594116},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5014569759368896},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.465302050113678},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3742806911468506},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20685619115829468},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.18975219130516052},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1758984625339508},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.11172854900360107},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0694623589515686},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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":1,"locations":[{"id":"doi:10.1007/978-3-030-75100-5_29","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-75100-5_29","pdf_url":null,"source":{"id":"https://openalex.org/S4210169156","display_name":"Lecture notes in networks and systems","issn_l":"2367-3370","issn":["2367-3370","2367-3389"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Networks and Systems","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6129730045","display_name":"Ing\u00e9nierie et Innovation par les sciences physiques, les savoir-faire technologiques et l'interdisciplinarit\u00e9","funder_award_id":"ANR-17-EURE-0002","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G6924597521","display_name":"Ecole Universitaire de Recherche Interdisciplinaire sur la Douleur","funder_award_id":"ANR-17-EURE-0022","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W2009239356","https://openalex.org/W2149841830","https://openalex.org/W2199560430","https://openalex.org/W2303265364","https://openalex.org/W2739265868","https://openalex.org/W2786120057","https://openalex.org/W2884997579","https://openalex.org/W2911535320","https://openalex.org/W2962125190","https://openalex.org/W3006365281","https://openalex.org/W3038353572","https://openalex.org/W3132428167","https://openalex.org/W4308288194"],"related_works":["https://openalex.org/W4225163935","https://openalex.org/W4386781757","https://openalex.org/W1602111302","https://openalex.org/W2087269928","https://openalex.org/W2064761790","https://openalex.org/W3138004701","https://openalex.org/W4281938963","https://openalex.org/W4200045946","https://openalex.org/W2153005597","https://openalex.org/W2975523549"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
