{"id":"https://openalex.org/W3033867302","doi":"https://doi.org/10.1109/access.2020.2999538","title":"Task Allocation Into a Foraging Task With a Series of Subtasks in Swarm Robotic System","display_name":"Task Allocation Into a Foraging Task With a Series of Subtasks in Swarm Robotic System","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3033867302","doi":"https://doi.org/10.1109/access.2020.2999538","mag":"3033867302"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2999538","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2999538","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2020.2999538","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101404018","display_name":"Wonki Lee","orcid":"https://orcid.org/0000-0003-3108-4983"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wonki Lee","raw_affiliation_strings":["Samsung Electronics, Yongin-si, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-3108-4983","affiliations":[{"raw_affiliation_string":"Samsung Electronics, Yongin-si, South Korea","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077978007","display_name":"Neil Vaughan","orcid":"https://orcid.org/0000-0001-5038-6560"},"institutions":[{"id":"https://openalex.org/I23923803","display_name":"University of Exeter","ror":"https://ror.org/03yghzc09","country_code":"GB","type":"education","lineage":["https://openalex.org/I23923803"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Neil Vaughan","raw_affiliation_strings":["Institute of Biomedical and Clinical Science, The University of Exeter, Exeter, U.K"],"raw_orcid":"https://orcid.org/0000-0001-5038-6560","affiliations":[{"raw_affiliation_string":"Institute of Biomedical and Clinical Science, The University of Exeter, Exeter, U.K","institution_ids":["https://openalex.org/I23923803"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073818070","display_name":"DaeEun Kim","orcid":"https://orcid.org/0000-0003-0863-1694"},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Daeeun Kim","raw_affiliation_strings":["School of Electrical and Electronics Engineering, Yonsei University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-0863-1694","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronics Engineering, Yonsei University, Seoul, South Korea","institution_ids":["https://openalex.org/I193775966"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.996,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.9137072,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"107549","last_page":"107561"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10702","display_name":"Insect and Arachnid Ecology and Behavior","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10702","display_name":"Insect and Arachnid Ecology and Behavior","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.989300012588501,"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/robot","display_name":"Robot","score":0.8338660597801208},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.8087522983551025},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.7931329011917114},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7567999958992004},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.6977533102035522},{"id":"https://openalex.org/keywords/foraging","display_name":"Foraging","score":0.6075742840766907},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4811364710330963},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.46378740668296814},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10457456111907959}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8338660597801208},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.8087522983551025},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.7931329011917114},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7567999958992004},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.6977533102035522},{"id":"https://openalex.org/C165287380","wikidata":"https://www.wikidata.org/wiki/Q2916569","display_name":"Foraging","level":2,"score":0.6075742840766907},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4811364710330963},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.46378740668296814},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10457456111907959},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/access.2020.2999538","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2999538","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:411594fd335b45288c0d839c8f2e1bc6","is_oa":true,"landing_page_url":"https://doaj.org/article/411594fd335b45288c0d839c8f2e1bc6","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 107549-107561 (2020)","raw_type":"article"},{"id":"pmh:oai:figshare.com:article/29771159","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"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":"Journal contribution"},{"id":"pmh:oai:ore.exeter.ac.uk:10871/121657","is_oa":true,"landing_page_url":"http://hdl.handle.net/10871/121657","pdf_url":null,"source":{"id":"https://openalex.org/S4306401998","display_name":"Open Research Exeter (University of Exeter)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I23923803","host_organization_name":"University of Exeter","host_organization_lineage":["https://openalex.org/I23923803"],"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":"Article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2999538","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2999538","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5319299466","display_name":null,"funder_award_id":"2020R1A2B5B01002395","funder_id":"https://openalex.org/F4320322030","funder_display_name":"Ministry of Science, ICT and Future Planning"}],"funders":[{"id":"https://openalex.org/F4320322030","display_name":"Ministry of Science, ICT and Future Planning","ror":"https://ror.org/032e49973"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1430617670","https://openalex.org/W1575214265","https://openalex.org/W1592228927","https://openalex.org/W1648525405","https://openalex.org/W1967320862","https://openalex.org/W1986459647","https://openalex.org/W1987926710","https://openalex.org/W1995657057","https://openalex.org/W2025406578","https://openalex.org/W2025596744","https://openalex.org/W2034558718","https://openalex.org/W2046164866","https://openalex.org/W2052083473","https://openalex.org/W2076422387","https://openalex.org/W2088379700","https://openalex.org/W2089077607","https://openalex.org/W2090047902","https://openalex.org/W2100903798","https://openalex.org/W2101576896","https://openalex.org/W2108765649","https://openalex.org/W2114027706","https://openalex.org/W2114225169","https://openalex.org/W2116226399","https://openalex.org/W2117910558","https://openalex.org/W2126554879","https://openalex.org/W2135630914","https://openalex.org/W2137392640","https://openalex.org/W2137714578","https://openalex.org/W2138328817","https://openalex.org/W2144827113","https://openalex.org/W2145510175","https://openalex.org/W2153152229","https://openalex.org/W2157488300","https://openalex.org/W2161251531","https://openalex.org/W2233966172","https://openalex.org/W2245725693","https://openalex.org/W2263202512","https://openalex.org/W2304063466","https://openalex.org/W2313677195","https://openalex.org/W2318711378","https://openalex.org/W2344745807","https://openalex.org/W2559957666","https://openalex.org/W2573212983","https://openalex.org/W2618617629","https://openalex.org/W2739550253","https://openalex.org/W2769558701","https://openalex.org/W2900592066","https://openalex.org/W3122885786","https://openalex.org/W6628285262","https://openalex.org/W6675018715"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W65954170","https://openalex.org/W1988876749","https://openalex.org/W3094438089","https://openalex.org/W2518382144","https://openalex.org/W1966857494","https://openalex.org/W2901195353","https://openalex.org/W2590712470","https://openalex.org/W2530004804"],"abstract_inverted_index":{"In":[0,108],"swarm":[1,28,162,176],"robotic":[2],"systems,":[3],"task":[4,35,51,70,110,123,152,158,172,191,222,229],"allocation":[5,111,223],"is":[6,59,87,184],"a":[7,16,22,27,33,140,161,175,189,221,232],"challenging":[8],"problem":[9],"aiming":[10],"to":[11,25,31,48,72,77,155,225],"decompose":[12],"complex":[13],"tasks":[14,79,91,101,203],"into":[15],"series":[17],"of":[18,29,37,46,69,75,98,105,130,170,177,198,202,207],"subtasks.":[19,40],"We":[20,164,179],"propose":[21],"self-organizing":[23],"method":[24,42,58,183,224],"allocate":[26],"robots":[30,47,94,132],"perform":[32],"foraging":[34,190,228],"consisting":[36],"sequentially":[38],"dependent":[39],"The":[41],"regulates":[43],"the":[44,50,62,67,73,82,121,128,134,156,167,171,182,196,200,205,208,215,227],"proportion":[45],"meet":[49],"demands":[52,71],"for":[53,89,188,231],"given":[54],"tasks.":[55],"Our":[56,210],"proposed":[57],"based":[60],"on":[61,81,120,139,144,195],"response":[63,83,117],"threshold":[64,118],"model,":[65],"mapping":[66],"intensity":[68],"probability":[74,97,104],"responding":[76],"candidate":[78],"depending":[80,119],"threshold.":[84],"Each":[85],"robot":[86,114],"suitable":[88],"all":[90],"but":[92],"some":[93],"have":[95],"higher":[96],"taking":[99,106],"certain":[100],"and":[102,150,186,204],"lower":[103],"others.":[107],"our":[109],"method,":[112],"each":[113],"updates":[115],"its":[116],"associated":[122],"demand":[124],"as":[125,127],"well":[126],"number":[129,197,201],"neighbouring":[131],"performing":[133],"task.":[135],"It":[136],"relies":[137],"neither":[138],"centralized":[141],"mechanism":[142],"nor":[143],"information":[145],"exchange":[146],"amongst":[147],"robots.":[148,178],"Repetitive":[149],"continuous":[151],"allocations":[153],"lead":[154],"desired":[157],"distribution":[159,173],"at":[160],"level.":[163],"also":[165],"analyzed":[166],"mathematical":[168],"convergence":[169],"among":[174],"demonstrate":[180],"that":[181,217],"effective":[185],"robust":[187],"under":[192],"various":[193],"conditions":[194],"robots,":[199],"size":[206],"arena.":[209],"simulation":[211],"results":[212],"may":[213],"support":[214],"hypothesis":[216],"social":[218],"insects":[219],"use":[220],"handle":[226],"required":[230],"colony's":[233],"survival.":[234]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":8}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
