{"id":"https://openalex.org/W7140215458","doi":"https://doi.org/10.1007/s10710-026-09534-z","title":"Exploring grammar-guided design and evolution of polyominoes with modular soft robots","display_name":"Exploring grammar-guided design and evolution of polyominoes with modular soft robots","publication_year":2026,"publication_date":"2026-03-24","ids":{"openalex":"https://openalex.org/W7140215458","doi":"https://doi.org/10.1007/s10710-026-09534-z"},"language":"en","primary_location":{"id":"doi:10.1007/s10710-026-09534-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10710-026-09534-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10710-026-09534-z.pdf","source":{"id":"https://openalex.org/S47930974","display_name":"Genetic Programming and Evolvable Machines","issn_l":"1389-2576","issn":["1389-2576","1573-7632"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Genetic Programming and Evolvable Machines","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10710-026-09534-z.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Jessica M\u00e9gane","orcid":null},"institutions":[{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Jessica M\u00e9gane","raw_affiliation_strings":["CISUC/LASI \u2013 Centre for Informatics and Systems of the University of Coimbra, Department of Informatics Engineering, University of Coimbra, Coimbra, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CISUC/LASI \u2013 Centre for Informatics and Systems of the University of Coimbra, Department of Informatics Engineering, University of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I76903346"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Eric Medvet","orcid":null},"institutions":[{"id":"https://openalex.org/I142444530","display_name":"University of Trieste","ror":"https://ror.org/02n742c10","country_code":"IT","type":"education","lineage":["https://openalex.org/I142444530"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Eric Medvet","raw_affiliation_strings":["Department of Engineering and Architecture, University of Trieste, Trieste, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Nuno Louren\u00e7o","orcid":null},"institutions":[{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Nuno Louren\u00e7o","raw_affiliation_strings":["CISUC/LASI \u2013 Centre for Informatics and Systems of the University of Coimbra, Department of Informatics Engineering, University of Coimbra, Coimbra, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CISUC/LASI \u2013 Centre for Informatics and Systems of the University of Coimbra, Department of Informatics Engineering, University of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I76903346"]}]},{"author_position":"last","author":{"id":null,"display_name":"Penousal Machado","orcid":null},"institutions":[{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Penousal Machado","raw_affiliation_strings":["CISUC/LASI \u2013 Centre for Informatics and Systems of the University of Coimbra, Department of Informatics Engineering, University of Coimbra, Coimbra, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CISUC/LASI \u2013 Centre for Informatics and Systems of the University of Coimbra, Department of Informatics Engineering, University of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I76903346"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76903346"],"apc_list":{"value":2290,"currency":"EUR","value_usd":2890},"apc_paid":{"value":2290,"currency":"EUR","value_usd":2890},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.46451626,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"27","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.8690000176429749,"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":0.8690000176429749,"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":0.04690000042319298,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.01510000042617321,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.8292999863624573},{"id":"https://openalex.org/keywords/polyomino","display_name":"Polyomino","score":0.7967000007629395},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.598800003528595},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.511900007724762},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4839000105857849},{"id":"https://openalex.org/keywords/grammatical-evolution","display_name":"Grammatical evolution","score":0.41130000352859497}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8292999863624573},{"id":"https://openalex.org/C69919132","wikidata":"https://www.wikidata.org/wiki/Q1144819","display_name":"Polyomino","level":3,"score":0.7967000007629395},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7937999963760376},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.598800003528595},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.511900007724762},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5041999816894531},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.4846000075340271},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4839000105857849},{"id":"https://openalex.org/C10906938","wikidata":"https://www.wikidata.org/wiki/Q5593687","display_name":"Grammatical evolution","level":3,"score":0.41130000352859497},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.39989998936653137},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.38769999146461487},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3871999979019165},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.3296000063419342},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30230000615119934},{"id":"https://openalex.org/C110332635","wikidata":"https://www.wikidata.org/wiki/Q629498","display_name":"Genetic programming","level":2,"score":0.3001999855041504},{"id":"https://openalex.org/C53893814","wikidata":"https://www.wikidata.org/wiki/Q7378909","display_name":"Rule-based machine translation","level":2,"score":0.2736999988555908}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10710-026-09534-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10710-026-09534-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10710-026-09534-z.pdf","source":{"id":"https://openalex.org/S47930974","display_name":"Genetic Programming and Evolvable Machines","issn_l":"1389-2576","issn":["1389-2576","1573-7632"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Genetic Programming and Evolvable Machines","raw_type":"journal-article"},{"id":"pmh:oai:arts.units.it:11368/3128881","is_oa":true,"landing_page_url":"https://hdl.handle.net/11368/3128881","pdf_url":null,"source":{"id":"https://openalex.org/S4306400480","display_name":"ArTS Archivio della ricerca di Trieste (University of Trieste https://www.units.it/)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142444530","host_organization_name":"University of Trieste","host_organization_lineage":["https://openalex.org/I142444530"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1007/s10710-026-09534-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10710-026-09534-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10710-026-09534-z.pdf","source":{"id":"https://openalex.org/S47930974","display_name":"Genetic Programming and Evolvable Machines","issn_l":"1389-2576","issn":["1389-2576","1573-7632"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Genetic Programming and Evolvable Machines","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","score":0.8063863515853882,"display_name":"Quality Education"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323392","display_name":"Universidade de Coimbra","ror":"https://ror.org/04z8k9a98"},{"id":"https://openalex.org/F4320327547","display_name":"Universit\u00e0 degli Studi di Trieste","ror":"https://ror.org/02n742c10"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7140215458.pdf","grobid_xml":"https://content.openalex.org/works/W7140215458.grobid-xml"},"referenced_works_count":71,"referenced_works":["https://openalex.org/W112541342","https://openalex.org/W1545990142","https://openalex.org/W1546662078","https://openalex.org/W1577726209","https://openalex.org/W1593481303","https://openalex.org/W1605242532","https://openalex.org/W1638872479","https://openalex.org/W1870847788","https://openalex.org/W1970595496","https://openalex.org/W1976575031","https://openalex.org/W1978806189","https://openalex.org/W1983449914","https://openalex.org/W2009920878","https://openalex.org/W2010156088","https://openalex.org/W2013375625","https://openalex.org/W2030612934","https://openalex.org/W2046310516","https://openalex.org/W2053863683","https://openalex.org/W2056769911","https://openalex.org/W2075741188","https://openalex.org/W2084447086","https://openalex.org/W2092841585","https://openalex.org/W2099452661","https://openalex.org/W2103599323","https://openalex.org/W2116926066","https://openalex.org/W2126105956","https://openalex.org/W2153971293","https://openalex.org/W2218131990","https://openalex.org/W2302057568","https://openalex.org/W2513868942","https://openalex.org/W2583494560","https://openalex.org/W2604415631","https://openalex.org/W2610992585","https://openalex.org/W2624835660","https://openalex.org/W2762552080","https://openalex.org/W2886758923","https://openalex.org/W2888178166","https://openalex.org/W2890854347","https://openalex.org/W2900121847","https://openalex.org/W2924496780","https://openalex.org/W2950597393","https://openalex.org/W2962962252","https://openalex.org/W3006201994","https://openalex.org/W3013809224","https://openalex.org/W3047894871","https://openalex.org/W3105625152","https://openalex.org/W3112009288","https://openalex.org/W3137780926","https://openalex.org/W3162823304","https://openalex.org/W3176233376","https://openalex.org/W4200103873","https://openalex.org/W4226364671","https://openalex.org/W4234391811","https://openalex.org/W4242142108","https://openalex.org/W4247067162","https://openalex.org/W4249616096","https://openalex.org/W4255822960","https://openalex.org/W4285805333","https://openalex.org/W4285805390","https://openalex.org/W4289927723","https://openalex.org/W4316022175","https://openalex.org/W4323668498","https://openalex.org/W4380880210","https://openalex.org/W4390590012","https://openalex.org/W4392700258","https://openalex.org/W4393107073","https://openalex.org/W4395093927","https://openalex.org/W4395094000","https://openalex.org/W4401632622","https://openalex.org/W4404205974","https://openalex.org/W4413136930"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"Languages":[1],"for":[2,58,136],"describing":[3],"two-dimensional":[4],"(2-D)":[5],"structures":[6,30],"have":[7,166],"become":[8],"powerful":[9],"tools":[10],"across":[11],"multiple":[12],"fields,":[13],"including":[14],"pattern":[15],"recognition,":[16],"image":[17],"processing,":[18],"and":[19,24,68,102,164],"the":[20,77,80,92,122,137,156,167,173,183],"modeling":[21],"of":[22,28,61,79,94,124,139,175,186],"physical":[23,145],"chemical":[25],"phenomena.":[26],"One":[27],"such":[29],"is":[31],"labeled":[32,62,74,95],"polyominoes,":[33,96],"i.e.":[34],",":[35],"geometric":[36],"shapes":[37],"formed":[38],"by":[39],"connected":[40],"unit":[41],"squares":[42],"arranged":[43],"on":[44],"a":[45,54,119,150],"2-D":[46],"grid.":[47],"In":[48,110],"previous":[49,116],"work,":[50,112],"we":[51,113],"introduced:":[52],"(a)":[53],"novel":[55],"grammar-based":[56],"approach":[57,117],"defining":[59],"sets":[60],"polyominoes":[63,75],"that":[64,85,155],"satisfy":[65],"predefined":[66],"requirements,":[67],"(b)":[69],"an":[70],"algorithm":[71],"to":[72,98,118,147,149,181],"develop":[73],"following":[76],"rules":[78],"proposed":[81],"grammar.":[82,152],"We":[83,133,153],"demonstrated":[84],"these":[86],"two":[87],"components":[88],"enable":[89],"optimization":[90],"within":[91],"space":[93],"similarly":[97],"how":[99],"grammatical":[100],"evolution":[101,123],"its":[103],"extensions":[104],"operate":[105],"in":[106],"string-based":[107],"search":[108],"spaces.":[109],"this":[111],"extend":[114],"our":[115],"new":[120],"domain:":[121],"modular":[125,190],"soft":[126,130,191],"robots,":[127],"namely,":[128],"voxel-based":[129],"robots":[131,158],"(VSRs).":[132],"evolve":[134],"VSRs":[135],"task":[138],"energy-efficient":[140],"locomotion,":[141],"while":[142],"constraining":[143],"their":[144,161],"structure":[146,188],"adhere":[148],"given":[151],"show":[154],"evolved":[157],"successfully":[159],"perform":[160],"assigned":[162],"tasks":[163],"do":[165],"required":[168],"structure.":[169],"These":[170],"results":[171],"highlight":[172],"potential":[174],"integrating":[176],"domain":[177],"knowledge":[178],"through":[179],"grammars":[180],"guide":[182],"evolutionary":[184],"design":[185],"complex":[187],"as":[189],"robots.":[192]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2026-03-25T00:00:00"}
