{"id":"https://openalex.org/W2745739653","doi":"https://doi.org/10.1109/ahs.2017.8046386","title":"Self-adaptive pattern formation with battery-powered robot swarms","display_name":"Self-adaptive pattern formation with battery-powered robot swarms","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2745739653","doi":"https://doi.org/10.1109/ahs.2017.8046386","mag":"2745739653"},"language":"en","primary_location":{"id":"doi:10.1109/ahs.2017.8046386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ahs.2017.8046386","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 NASA/ESA Conference on Adaptive Hardware and Systems (AHS)","raw_type":"proceedings-article"},"type":"article","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/A5100780021","display_name":"Guannan Li","orcid":"https://orcid.org/0000-0001-9530-1786"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guannan Li","raw_affiliation_strings":["CAS, Shenyang Institute of Automation, Shenyang, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CAS, Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017317407","display_name":"Ivan \u0160vogor","orcid":"https://orcid.org/0000-0001-5250-2123"},"institutions":[{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ivan Svogor","raw_affiliation_strings":["Department of Computer and Software Engineering, Polytechnique Montr\u00e9al, Montr\u00e9al, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer and Software Engineering, Polytechnique Montr\u00e9al, Montr\u00e9al, QC, Canada","institution_ids":["https://openalex.org/I45683168"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021953451","display_name":"Giovanni Beltrame","orcid":"https://orcid.org/0000-0001-9755-8630"},"institutions":[{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Giovanni Beltrame","raw_affiliation_strings":["Department of Computer and Software Engineering, Polytechnique Montr\u00e9al, Montr\u00e9al, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer and Software Engineering, Polytechnique Montr\u00e9al, Montr\u00e9al, QC, Canada","institution_ids":["https://openalex.org/I45683168"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6107,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.68565447,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"253","last_page":"260"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9997000098228455,"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":0.9997000098228455,"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/T12288","display_name":"Optimization and Search Problems","score":0.9984999895095825,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9975000023841858,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.812127947807312},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5769791603088379},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5665591359138489},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.5565139651298523},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.4620508551597595},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.45725908875465393},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4506787955760956},{"id":"https://openalex.org/keywords/battery","display_name":"Battery (electricity)","score":0.41298624873161316},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.36748552322387695},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3330565094947815},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19132867455482483},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.103597491979599}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.812127947807312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5769791603088379},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5665591359138489},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.5565139651298523},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.4620508551597595},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.45725908875465393},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4506787955760956},{"id":"https://openalex.org/C555008776","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery (electricity)","level":3,"score":0.41298624873161316},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36748552322387695},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3330565094947815},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19132867455482483},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.103597491979599},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ahs.2017.8046386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ahs.2017.8046386","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 NASA/ESA Conference on Adaptive Hardware and Systems (AHS)","raw_type":"proceedings-article"},{"id":"pmh:oai:publications.polymtl.ca:38634","is_oa":false,"landing_page_url":"https://publications.polymtl.ca/38634/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401013","display_name":"PolyPublie (\u00c9cole Polytechnique de Montr\u00e9al)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45683168","host_organization_name":"Polytechnique Montr\u00e9al","host_organization_lineage":["https://openalex.org/I45683168"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Communication de conf\u00e9rence"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W182867387","https://openalex.org/W2017150251","https://openalex.org/W2072265663","https://openalex.org/W2097726813","https://openalex.org/W2106683849","https://openalex.org/W2150010456","https://openalex.org/W2158701335","https://openalex.org/W2160318775","https://openalex.org/W2164304627","https://openalex.org/W2567377301","https://openalex.org/W3084077840"],"related_works":["https://openalex.org/W2136735429","https://openalex.org/W170547082","https://openalex.org/W2587876411","https://openalex.org/W2358332176","https://openalex.org/W4229950834","https://openalex.org/W4301044568","https://openalex.org/W2128075414","https://openalex.org/W1587123803","https://openalex.org/W2571039174","https://openalex.org/W2952867832"],"abstract_inverted_index":{"This":[0,42,77],"paper":[1,34],"presents":[2],"a":[3,15,51,60,68,91,129,142],"distributed,":[4],"energy-aware":[5],"algorithm":[6,30,126],"for":[7,100],"an":[8,146],"autonomous":[9],"deployment":[10],"of":[11,94,136],"battery-powered":[12],"robots":[13,95],"in":[14,32,90,145],"specified":[16],"pattern.":[17,122],"While":[18],"each":[19,55,82],"robot":[20,83,143],"gradually":[21],"discharges":[22],"and":[23,104,132,154],"leaves":[24],"the":[25,29,37,47,102,112,120,134,137],"formation":[26,38,103,113,121,139],"to":[27,85,107,118],"recharge,":[28],"presented":[31],"this":[33],"assures":[35],"that":[36,71],"pattern":[39,49,138],"is":[40,43,57,65,72,79],"preserved.":[41],"achieved":[44],"by":[45,59,81,116,141],"defining":[46],"desired":[48],"as":[50],"point":[52,56,63],"cloud":[53,64],"where":[54],"occupied":[58],"robot.":[61],"The":[62],"transformed":[66],"into":[67],"tree":[69],"model":[70,78],"shared":[73],"among":[74],"all":[75],"robots.":[76],"used":[80],"independently":[84],"govern":[86],"its":[87],"behavior,":[88],"resulting":[89],"self-adaptive":[92],"network":[93],"which":[96,110],"automatically":[97],"generate":[98],"paths":[99],"joining":[101],"leaving":[105],"it":[106],"recharge.":[108],"Robots":[109],"leave":[111],"are":[114],"replaced":[115],"neighbors":[117],"preserve":[119],"To":[123],"demonstrate":[124],"our":[125],"we":[127],"use":[128],"physics-based":[130],"simulator":[131],"evaluate":[133],"persistence":[135],"formed":[140],"swarm":[144],"environment":[147],"without":[148],"global":[149],"positioning,":[150],"using":[151],"only":[152],"range":[153],"bearing.":[155]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}