{"id":"https://openalex.org/W4401416253","doi":"https://doi.org/10.1109/icra57147.2024.10609979","title":"Optimizing Modular Robot Composition: A Lexicographic Genetic Algorithm Approach","display_name":"Optimizing Modular Robot Composition: A Lexicographic Genetic Algorithm Approach","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416253","doi":"https://doi.org/10.1109/icra57147.2024.10609979"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10609979","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10609979","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/doc/1745075/document.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042244726","display_name":"Jonathan K\u00fclz","orcid":"https://orcid.org/0000-0003-4310-6705"},"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":"Jonathan K\u00fclz","raw_affiliation_strings":["Technical University of Munich,Department of Computer Engineering,Garching,Germany,85748"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Computer Engineering,Garching,Germany,85748","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":["Technical University of Munich,Department of Computer Engineering,Garching,Germany,85748"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Computer Engineering,Garching,Germany,85748","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5042244726"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":2.4773,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.88849951,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"16752","last_page":"16758"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9962000250816345,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9909999966621399,"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/lexicographical-order","display_name":"Lexicographical order","score":0.7908685207366943},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7672059535980225},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7107267379760742},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.5976307988166809},{"id":"https://openalex.org/keywords/composition","display_name":"Composition (language)","score":0.5790680050849915},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5590326189994812},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.47835037112236023},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.38224300742149353},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36238351464271545},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.20869329571723938},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19923344254493713},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.1962626576423645},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.15736156702041626},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15116775035858154},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.05120640993118286}],"concepts":[{"id":"https://openalex.org/C159254197","wikidata":"https://www.wikidata.org/wiki/Q1144915","display_name":"Lexicographical order","level":2,"score":0.7908685207366943},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7672059535980225},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7107267379760742},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.5976307988166809},{"id":"https://openalex.org/C40231798","wikidata":"https://www.wikidata.org/wiki/Q1333743","display_name":"Composition (language)","level":2,"score":0.5790680050849915},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5590326189994812},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.47835037112236023},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.38224300742149353},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36238351464271545},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.20869329571723938},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19923344254493713},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.1962626576423645},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.15736156702041626},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15116775035858154},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.05120640993118286},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra57147.2024.10609979","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10609979","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1745075","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1745075","pdf_url":"https://mediatum.ub.tum.de/doc/1745075/document.pdf","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":null,"raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1745075","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1745075","pdf_url":"https://mediatum.ub.tum.de/doc/1745075/document.pdf","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":null,"raw_type":"ConferencePaper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401416253.pdf","grobid_xml":"https://content.openalex.org/works/W4401416253.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1513316543","https://openalex.org/W1541288193","https://openalex.org/W1609223620","https://openalex.org/W1974603697","https://openalex.org/W2036109172","https://openalex.org/W2086113803","https://openalex.org/W2110762409","https://openalex.org/W2114045677","https://openalex.org/W2117085697","https://openalex.org/W2125198713","https://openalex.org/W2149841830","https://openalex.org/W2274021575","https://openalex.org/W2412812481","https://openalex.org/W2527947577","https://openalex.org/W2542605594","https://openalex.org/W2589490077","https://openalex.org/W2751488618","https://openalex.org/W2770980461","https://openalex.org/W2810324771","https://openalex.org/W2950430092","https://openalex.org/W2997649476","https://openalex.org/W3025140586","https://openalex.org/W3090267060","https://openalex.org/W3201913229","https://openalex.org/W3202468376","https://openalex.org/W4214553076","https://openalex.org/W4224069626","https://openalex.org/W4237688380","https://openalex.org/W4389665614","https://openalex.org/W4401417374","https://openalex.org/W6605861540","https://openalex.org/W6679031441"],"related_works":["https://openalex.org/W2720417647","https://openalex.org/W4225163935","https://openalex.org/W86933508","https://openalex.org/W2765089336","https://openalex.org/W2663455904","https://openalex.org/W2313074614","https://openalex.org/W2166742878","https://openalex.org/W2130464959","https://openalex.org/W2883992449","https://openalex.org/W1942058526"],"abstract_inverted_index":{"Industrial":[0],"robots":[1,148],"are":[2],"designed":[3],"as":[4],"general-purpose":[5],"hardware":[6],"with":[7,105],"limited":[8],"ability":[9],"to":[10,12,31,94,96,112,145],"adapt":[11,95],"changing":[13],"task":[14,67],"requirements":[15],"or":[16,91],"environments.":[17,154],"Modular":[18],"robots,":[19],"on":[20],"the":[21,38,47,88,92,128],"other":[22],"hand,":[23],"offer":[24],"flexibility":[25],"and":[26,40,55,116,142],"can":[27],"be":[28],"easily":[29],"customized":[30],"suit":[32],"diverse":[33],"needs.":[34],"The":[35],"morphology,":[36],"i.e.,":[37],"form":[39],"structure":[41],"of":[42,87,109,130],"a":[43,65,73,102,106,139],"robot,":[44],"significantly":[45],"impacts":[46],"primary":[48],"performance":[49],"metrics":[50],"acquisition":[51],"cost,":[52],"cycle":[53],"time,":[54],"energy":[56],"efficiency.":[57],"However,":[58],"identifying":[59],"an":[60,69],"optimal":[61],"module":[62],"composition":[63],"for":[64,149],"specific":[66],"remains":[68],"open":[70],"problem,":[71],"presenting":[72],"substantial":[74],"hurdle":[75],"in":[76,122,127,152],"developing":[77],"task-tailored":[78],"modular":[79,147],"robots.":[80],"Previous":[81],"approaches":[82],"either":[83],"lack":[84],"adequate":[85],"exploration":[86],"design":[89],"space":[90],"possibility":[93],"complex":[97],"tasks.":[98],"We":[99,133],"propose":[100],"combining":[101],"genetic":[103],"algorithm":[104],"lexicographic":[107],"evaluation":[108],"solution":[110],"candidates":[111],"overcome":[113],"this":[114],"problem":[115],"navigate":[117],"search":[118],"spaces":[119],"exceeding":[120],"those":[121],"prior":[123],"work":[124],"by":[125],"magnitudes":[126],"number":[129],"possible":[131],"compositions.":[132],"demonstrate":[134],"that":[135],"our":[136],"approach":[137],"outperforms":[138],"state-of-the-art":[140],"baseline":[141],"is":[143],"able":[144],"synthesize":[146],"industrial":[150],"tasks":[151],"cluttered":[153]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":3}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}