{"id":"https://openalex.org/W3090267060","doi":"https://doi.org/10.1109/icra40945.2020.9196590","title":"Optimizing performance in automation through modular robots","display_name":"Optimizing performance in automation through modular robots","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090267060","doi":"https://doi.org/10.1109/icra40945.2020.9196590","mag":"3090267060"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196590","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196590","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/1545981","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035672626","display_name":"Stefan B. Liu","orcid":"https://orcid.org/0000-0001-5061-7795"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Stefan B. Liu","raw_affiliation_strings":["Department of Informatics, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005383495","display_name":"Matthias Althoff","orcid":"https://orcid.org/0000-0003-3733-842X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Althoff","raw_affiliation_strings":["Department of Informatics, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5035672626"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":1.8217,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.83904322,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4044","last_page":"4050"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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":0.9998999834060669,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9876000285148621,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.8143603801727295},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.8002109527587891},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7695591449737549},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.7412502765655518},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.7289929389953613},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7057858109474182},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6588559746742249},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5995712280273438},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5048530697822571},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5005230903625488},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.4457036554813385},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43757376074790955},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.4185764491558075},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.29755568504333496},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29749250411987305},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.28279876708984375},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1616019904613495},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.1066640317440033},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07022705674171448}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8143603801727295},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8002109527587891},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7695591449737549},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.7412502765655518},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.7289929389953613},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7057858109474182},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6588559746742249},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5995712280273438},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5048530697822571},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5005230903625488},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.4457036554813385},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43757376074790955},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.4185764491558075},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.29755568504333496},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29749250411987305},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28279876708984375},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1616019904613495},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.1066640317440033},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07022705674171448},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra40945.2020.9196590","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196590","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1545981","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1545981","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1545981","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1545981","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8999999761581421,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W143781865","https://openalex.org/W1971317756","https://openalex.org/W1973905751","https://openalex.org/W2004139909","https://openalex.org/W2005872133","https://openalex.org/W2028173473","https://openalex.org/W2052324963","https://openalex.org/W2074272928","https://openalex.org/W2113265921","https://openalex.org/W2122597423","https://openalex.org/W2141664020","https://openalex.org/W2153340253","https://openalex.org/W2166965569","https://openalex.org/W2171543041","https://openalex.org/W2203377959","https://openalex.org/W2296360731","https://openalex.org/W2412812481","https://openalex.org/W2737549427","https://openalex.org/W2751488618","https://openalex.org/W2810324771","https://openalex.org/W2896215431","https://openalex.org/W2909664786","https://openalex.org/W2950430092","https://openalex.org/W4235919245","https://openalex.org/W4237688380","https://openalex.org/W6605861540","https://openalex.org/W6657515535","https://openalex.org/W6681136635","https://openalex.org/W6741247073"],"related_works":["https://openalex.org/W2786688135","https://openalex.org/W2003570019","https://openalex.org/W2041842743","https://openalex.org/W2142233024","https://openalex.org/W3008208197","https://openalex.org/W2152602653","https://openalex.org/W2612611878","https://openalex.org/W1674647641","https://openalex.org/W3090267060","https://openalex.org/W2626401248"],"abstract_inverted_index":{"Flexible":[0],"manufacturing":[1],"and":[2,51,58],"automation":[3],"require":[4],"robots":[5,18],"that":[6,19,39],"can":[7],"be":[8],"adapted":[9],"to":[10,15,44,77,112],"changing":[11],"tasks.":[12],"We":[13,117],"propose":[14],"use":[16,118],"modular":[17,120],"are":[20,62],"customized":[21],"from":[22],"given":[23],"modules":[24],"for":[25,34,74,123],"a":[26,36,70,87,91],"specific":[27],"task.":[28],"This":[29],"work":[30],"presents":[31],"an":[32],"algorithm":[33],"proposing":[35],"module":[37],"composition":[38],"is":[40],"optimal":[41],"with":[42,94,110],"respect":[43,111],"performance":[45,115],"metrics":[46],"such":[47],"as":[48,64,69,79,81,84],"cycle":[49],"time":[50],"energy":[52],"efficiency,":[53],"while":[54],"considering":[55],"kinematic,":[56],"dynamic,":[57],"obstacle":[59],"constraints.":[60],"Tasks":[61],"defined":[63],"trajectories":[65],"in":[66,86,106],"Cartesian":[67],"space,":[68],"list":[71],"of":[72,103],"poses":[73],"the":[75,101,113,124],"robot":[76,121],"reach":[78],"fast":[80],"possible,":[82],"or":[83],"dexterity":[85],"desired":[88],"workspace.":[89],"In":[90],"simulated":[92],"comparison":[93],"commercially":[95],"available":[96],"industrial":[97],"robots,":[98],"we":[99],"demonstrate":[100],"superiority":[102],"our":[104,119],"approach":[105],"randomly":[107],"generated":[108],"tasks":[109],"chosen":[114],"metrics.":[116],"proModular.1":[122],"comparison.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
