{"id":"https://openalex.org/W4408791907","doi":"https://doi.org/10.1109/access.2025.3554344","title":"A Comparative Study of Evolutionary Strategies for Aggregation Tasks in Robot Swarms: Macro- and Micro-Level Behavioral Analysis","display_name":"A Comparative Study of Evolutionary Strategies for Aggregation Tasks in Robot Swarms: Macro- and Micro-Level Behavioral Analysis","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4408791907","doi":"https://doi.org/10.1109/access.2025.3554344"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3554344","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3554344","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.2025.3554344","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013005246","display_name":"Paolo Pagliuca","orcid":"https://orcid.org/0000-0002-3780-3347"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210155236"]},{"id":"https://openalex.org/I4210166865","display_name":"Institute of Cognitive Sciences and Technologies","ror":"https://ror.org/05w9g2j85","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210155236","https://openalex.org/I4210166865"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Paolo Pagliuca","raw_affiliation_strings":["Institute of Cognitive Sciences and Technologies (ISTC), National Research Council (CNR), Rome, Italy","Institute of Cognitive Sciences and Technologies (ISTC), National Research Council (CNR), Italy"],"raw_orcid":"https://orcid.org/0000-0002-3780-3347","affiliations":[{"raw_affiliation_string":"Institute of Cognitive Sciences and Technologies (ISTC), National Research Council (CNR), Rome, Italy","institution_ids":["https://openalex.org/I4210166865","https://openalex.org/I4210155236"]},{"raw_affiliation_string":"Institute of Cognitive Sciences and Technologies (ISTC), National Research Council (CNR), Italy","institution_ids":["https://openalex.org/I4210166865","https://openalex.org/I4210155236"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077859718","display_name":"Alessandra Vitanza","orcid":"https://orcid.org/0000-0002-7760-8167"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210155236"]},{"id":"https://openalex.org/I4210166865","display_name":"Institute of Cognitive Sciences and Technologies","ror":"https://ror.org/05w9g2j85","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210155236","https://openalex.org/I4210166865"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandra Vitanza","raw_affiliation_strings":["Institute of Cognitive Sciences and Technologies (ISTC), National Research Council (CNR), Rome, Italy","Institute of Cognitive Sciences and Technologies (ISTC), National Research Council (CNR), Italy"],"raw_orcid":"https://orcid.org/0000-0002-7760-8167","affiliations":[{"raw_affiliation_string":"Institute of Cognitive Sciences and Technologies (ISTC), National Research Council (CNR), Rome, Italy","institution_ids":["https://openalex.org/I4210166865","https://openalex.org/I4210155236"]},{"raw_affiliation_string":"Institute of Cognitive Sciences and Technologies (ISTC), National Research Council (CNR), Italy","institution_ids":["https://openalex.org/I4210166865","https://openalex.org/I4210155236"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5013005246"],"corresponding_institution_ids":["https://openalex.org/I4210155236","https://openalex.org/I4210166865"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.5831,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.89869043,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"13","issue":null,"first_page":"72721","last_page":"72735"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11252","display_name":"Evolutionary Game Theory and Cooperation","score":0.8835999965667725,"subfield":{"id":"https://openalex.org/subfields/3312","display_name":"Sociology and Political Science"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T11252","display_name":"Evolutionary Game Theory and Cooperation","score":0.8835999965667725,"subfield":{"id":"https://openalex.org/subfields/3312","display_name":"Sociology and Political Science"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10482","display_name":"Mathematical and Theoretical Epidemiology and Ecology Models","score":0.7520999908447266,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/macro","display_name":"Macro","score":0.7191317677497864},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6624022722244263},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.55757075548172},{"id":"https://openalex.org/keywords/micro-level","display_name":"Micro level","score":0.5252280235290527},{"id":"https://openalex.org/keywords/macro-level","display_name":"Macro level","score":0.5134462118148804},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3295567035675049},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3237748444080353},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10664740204811096}],"concepts":[{"id":"https://openalex.org/C166955791","wikidata":"https://www.wikidata.org/wiki/Q629579","display_name":"Macro","level":2,"score":0.7191317677497864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6624022722244263},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.55757075548172},{"id":"https://openalex.org/C3018162585","wikidata":"https://www.wikidata.org/wiki/Q254624","display_name":"Micro level","level":3,"score":0.5252280235290527},{"id":"https://openalex.org/C3017399102","wikidata":"https://www.wikidata.org/wiki/Q397254","display_name":"Macro level","level":2,"score":0.5134462118148804},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3295567035675049},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3237748444080353},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10664740204811096},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74363100","wikidata":"https://www.wikidata.org/wiki/Q273005","display_name":"Economic 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},{"id":"https://openalex.org/C188897","wikidata":"https://www.wikidata.org/wiki/Q5333508","display_name":"Economic impact analysis","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3554344","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3554344","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:70348cd6bb9c4adc92b9adfcad1be44f","is_oa":true,"landing_page_url":"https://doaj.org/article/70348cd6bb9c4adc92b9adfcad1be44f","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 13, Pp 72721-72735 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3554344","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3554344","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1481659984","https://openalex.org/W1506498113","https://openalex.org/W1512917226","https://openalex.org/W1659842140","https://openalex.org/W1969524520","https://openalex.org/W1985311200","https://openalex.org/W2028981273","https://openalex.org/W2050484682","https://openalex.org/W2062046625","https://openalex.org/W2062223562","https://openalex.org/W2106148937","https://openalex.org/W2111935653","https://openalex.org/W2112036188","https://openalex.org/W2113033413","https://openalex.org/W2145746470","https://openalex.org/W2145796463","https://openalex.org/W2147673836","https://openalex.org/W2149469814","https://openalex.org/W2171399689","https://openalex.org/W2502464921","https://openalex.org/W2894170922","https://openalex.org/W2895001844","https://openalex.org/W2895997620","https://openalex.org/W2900214207","https://openalex.org/W3010154513","https://openalex.org/W3021981890","https://openalex.org/W3046002276","https://openalex.org/W3047393250","https://openalex.org/W3093560473","https://openalex.org/W3111019671","https://openalex.org/W3114601207","https://openalex.org/W3119439276","https://openalex.org/W3176202740","https://openalex.org/W3177672802","https://openalex.org/W3178918501","https://openalex.org/W4211139152","https://openalex.org/W4360995687","https://openalex.org/W4382657442","https://openalex.org/W4385467968","https://openalex.org/W4386295568","https://openalex.org/W6631190155","https://openalex.org/W6674330103","https://openalex.org/W6682262322","https://openalex.org/W6735641298","https://openalex.org/W6765996691","https://openalex.org/W6848877865"],"related_works":["https://openalex.org/W2378343024","https://openalex.org/W2019109360","https://openalex.org/W2196624492","https://openalex.org/W1968757058","https://openalex.org/W2257239200","https://openalex.org/W4200464548","https://openalex.org/W2092254766","https://openalex.org/W2319783895","https://openalex.org/W3130339133","https://openalex.org/W2557959942"],"abstract_inverted_index":{"Collective":[0],"decision-making":[1],"is":[2,45,136],"widely":[3,59],"observed":[4],"in":[5,102,115,161],"natural":[6],"organisms,":[7],"especially":[8],"insects":[9],"and":[10,88,127,140],"animals.":[11],"In":[12,38,67],"this":[13,64,68],"regard,":[14],"aggregation":[15,44,100],"represents":[16],"one":[17,55],"of":[18,41,56,105,113,124],"the":[19,35,39,57,111,116,118,122,128,131,142,149,163,174],"paramount":[20],"behaviors,":[21],"as":[22],"it":[23,167],"can":[24],"be":[25],"useful":[26],"for":[27,62,94],"protecting":[28],"groups":[29],"against":[30],"predators":[31],"or":[32],"speeding":[33],"up":[34],"foraging":[36],"process.":[37],"field":[40],"autonomous":[42],"robotics,":[43],"often":[46],"studied":[47],"through":[48],"various":[49],"paradigms,":[50],"with":[51],"evolutionary":[52,74],"algorithms":[53],"being":[54],"most":[58],"used":[60],"tools":[61],"evolving":[63],"collective":[65],"behavior.":[66],"work,":[69],"we":[70,108,153],"compared":[71],"three":[72],"modern":[73],"strategies":[75,172],"\u2014":[76,93],"Covariance":[77],"Matrix":[78],"Adaptation":[79],"Evolutionary":[80,90],"Strategy":[81,91],"(CMA-ES),":[82],"Exponential":[83],"Natural":[84],"Evolution":[85],"Strategies":[86],"(xNES)":[87],"OpenAI":[89],"(OpenAI-ES)":[92],"their":[95],"ability":[96],"to":[97,137],"evolve":[98],"an":[99],"behavior":[101],"a":[103],"swarm":[104],"robots.":[106],"Specifically,":[107],"systematically":[109],"varied":[110],"number":[112,123],"agents":[114],"group,":[117],"environmental":[119],"conditions":[120],"(i.e.,":[121],"target":[125],"nests)":[126],"parameters":[129],"tuning":[130],"fitness":[132],"function.":[133],"Our":[134],"aim":[135],"verify":[138],"whether":[139],"how":[141,156],"selected":[143],"methods":[144],"are":[145],"effective":[146],"at":[147],"addressing":[148],"problem.":[150],"The":[151],"results":[152],"obtained":[154],"indicate":[155],"OpenAI-ES":[157],"achieves":[158],"better":[159],"performance":[160],"all":[162],"considered":[164],"scenarios.":[165],"Furthermore,":[166],"displays":[168],"qualitatively":[169],"more":[170],"diverse":[171],"than":[173],"other":[175],"two":[176],"methods.":[177]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}