{"id":"https://openalex.org/W2017274937","doi":"https://doi.org/10.1109/icra.2014.6906993","title":"Segregation of multiple heterogeneous units in a robotic swarm","display_name":"Segregation of multiple heterogeneous units in a robotic swarm","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2017274937","doi":"https://doi.org/10.1109/icra.2014.6906993","mag":"2017274937"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6906993","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906993","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5002515816","display_name":"Vinicius Graciano Santos","orcid":null},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Vinicius Graciano Santos","raw_affiliation_strings":["Computer Science Department, Universidade Federal de Minas Gerais, Brazil","Vision and Robotics Laboratory (VeRLab), Computer Science Department, Universidade Federal de Minas Gerais, Brazil"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Universidade Federal de Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Vision and Robotics Laboratory (VeRLab), Computer Science Department, Universidade Federal de Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052284828","display_name":"Luciano C. A. Pimenta","orcid":"https://orcid.org/0000-0001-6385-1249"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Luciano C. A. Pimenta","raw_affiliation_strings":["Department of Electronic Engineering, Universidade Federal de Minas Gerais, Brazil","[Department of Electronic Engineering, Universidade Federal de Minas Gerais, Brazil]"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Universidade Federal de Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"[Department of Electronic Engineering, Universidade Federal de Minas Gerais, Brazil]","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073879771","display_name":"Luiz Chaimowicz","orcid":"https://orcid.org/0000-0001-8156-9941"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Luiz Chaimowicz","raw_affiliation_strings":["Computer Science Department, Universidade Federal de Minas Gerais, Brazil","Vision and Robotics Laboratory (VeRLab), Computer Science Department, Universidade Federal de Minas Gerais, Brazil"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Universidade Federal de Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Vision and Robotics Laboratory (VeRLab), Computer Science Department, Universidade Federal de Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5002515816"],"corresponding_institution_ids":["https://openalex.org/I110200422"],"apc_list":null,"apc_paid":null,"fwci":2.5335,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.9025094,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1112","last_page":"1117"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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":0.9991000294685364,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/swarm-behaviour","display_name":"Swarm behaviour","score":0.8192828893661499},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7699905633926392},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.7473088502883911},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6665862202644348},{"id":"https://openalex.org/keywords/homogeneous","display_name":"Homogeneous","score":0.5791791081428528},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5474746823310852},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5135250687599182},{"id":"https://openalex.org/keywords/cell-sorting","display_name":"Cell sorting","score":0.488357275724411},{"id":"https://openalex.org/keywords/sorting","display_name":"Sorting","score":0.44307416677474976},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4361761510372162},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.34924203157424927},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3092624247074127},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29453152418136597},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16170522570610046},{"id":"https://openalex.org/keywords/cell","display_name":"Cell","score":0.14578819274902344},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.1265908181667328}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.8192828893661499},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7699905633926392},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.7473088502883911},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6665862202644348},{"id":"https://openalex.org/C66882249","wikidata":"https://www.wikidata.org/wiki/Q169336","display_name":"Homogeneous","level":2,"score":0.5791791081428528},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5474746823310852},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5135250687599182},{"id":"https://openalex.org/C2778630268","wikidata":"https://www.wikidata.org/wiki/Q17113277","display_name":"Cell sorting","level":3,"score":0.488357275724411},{"id":"https://openalex.org/C111696304","wikidata":"https://www.wikidata.org/wiki/Q2303697","display_name":"Sorting","level":2,"score":0.44307416677474976},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4361761510372162},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.34924203157424927},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3092624247074127},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29453152418136597},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16170522570610046},{"id":"https://openalex.org/C1491633281","wikidata":"https://www.wikidata.org/wiki/Q7868","display_name":"Cell","level":2,"score":0.14578819274902344},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.1265908181667328},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2014.6906993","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906993","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.453.7151","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.453.7151","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://homepages.dcc.ufmg.br/~chaimo/public/ICRA2014.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W55259472","https://openalex.org/W94944938","https://openalex.org/W1512313081","https://openalex.org/W1686337294","https://openalex.org/W1977973890","https://openalex.org/W2001868359","https://openalex.org/W2002440441","https://openalex.org/W2019258694","https://openalex.org/W2096672695","https://openalex.org/W2103120971","https://openalex.org/W2103852413","https://openalex.org/W2105850748","https://openalex.org/W2119120935","https://openalex.org/W2123457819","https://openalex.org/W2128928412","https://openalex.org/W2130647945","https://openalex.org/W2139369541","https://openalex.org/W2149100833","https://openalex.org/W2149469814","https://openalex.org/W2150312211","https://openalex.org/W2151609251","https://openalex.org/W2160636171","https://openalex.org/W2161367212","https://openalex.org/W2177274602","https://openalex.org/W4234406933","https://openalex.org/W6602278627","https://openalex.org/W6637406281","https://openalex.org/W6683800570"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W1988876749","https://openalex.org/W65954170","https://openalex.org/W2518382144","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166","https://openalex.org/W2787547275","https://openalex.org/W1966857494"],"abstract_inverted_index":{"Several":[0],"natural":[1],"systems":[2],"adopt":[3],"self-sorting":[4],"mechanisms":[5],"based":[6],"on":[7],"segregative":[8],"behaviors.":[9],"Among":[10],"these,":[11],"cell":[12],"segregation":[13],"is":[14],"of":[15,27,43,71,77,112,124],"particular":[16],"interest":[17],"since":[18],"it":[19],"plays":[20],"an":[21],"important":[22],"role":[23],"in":[24,45,104,130],"the":[25,75,108,113],"formation":[26],"tissues,":[28],"organs,":[29],"and":[30,87,100,110,133],"living":[31],"organisms.":[32],"The":[33],"Differential":[34],"Adhesion":[35],"Hypothesis":[36],"states":[37],"that":[38,65,81,118],"cells":[39,50],"naturally":[40],"segregate":[41,67,129],"because":[42],"differences":[44],"affinity,":[46],"which":[47],"lead":[48],"similar":[49,82],"to":[51,54,74,97,106,128],"strongly":[52],"adhere":[53],"each":[55,78],"other.":[56],"By":[57],"exploring":[58],"this":[59],"principle,":[60],"we":[61],"propose":[62],"a":[63,68,122,131],"controller":[64],"can":[66],"heterogeneous":[69,126],"swarm":[70,123],"robots":[72,83,89,127],"according":[73],"characteristics":[76],"agent,":[79],"such":[80],"form":[84],"homogeneous":[85],"teams":[86],"dissimilar":[88],"are":[90],"segregated.":[91],"We":[92],"apply":[93],"LaSalle's":[94],"Invariance":[95],"Principle":[96],"show":[98,117],"convergence":[99],"perform":[101],"simulated":[102],"experiments":[103],"order":[105],"demonstrate":[107],"robustness":[109],"effectiveness":[111],"proposed":[114],"controller.":[115],"Results":[116],"our":[119],"approach":[120],"allows":[121],"multiple":[125],"coherent":[132],"smooth":[134],"fashion,":[135],"without":[136],"any":[137],"inter-agent":[138],"collisions.":[139]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":5}],"updated_date":"2026-03-26T15:22:09.906841","created_date":"2025-10-10T00:00:00"}