{"id":"https://openalex.org/W2108266858","doi":"https://doi.org/10.1109/iros.2004.1389703","title":"Sensor-based distributed control for chain-typed self-reconfiguration","display_name":"Sensor-based distributed control for chain-typed self-reconfiguration","publication_year":2005,"publication_date":"2005-04-01","ids":{"openalex":"https://openalex.org/W2108266858","doi":"https://doi.org/10.1109/iros.2004.1389703","mag":"2108266858"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","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/A5049012721","display_name":"Kenneth Payne","orcid":"https://orcid.org/0000-0002-4688-9285"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K. Payne","raw_affiliation_strings":["Information Sciences Institute, University of Southern California, Marina del Rey, CA, USA","[Inf. Sci. Inst., Univ. of Southern California, Marina del Rey, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Information Sciences Institute, University of Southern California, Marina del Rey, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"[Inf. Sci. Inst., Univ. of Southern California, Marina del Rey, CA, USA]","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111917877","display_name":"Behnam Salemi","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B. Salemi","raw_affiliation_strings":["Information Sciences Institute, University of Southern California, Marina del Rey, CA, USA","[Inf. Sci. Inst., Univ. of Southern California, Marina del Rey, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Information Sciences Institute, University of Southern California, Marina del Rey, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"[Inf. Sci. Inst., Univ. of Southern California, Marina del Rey, CA, USA]","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058583124","display_name":"Peter Will","orcid":"https://orcid.org/0000-0002-8725-3486"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"P. Will","raw_affiliation_strings":["Information Sciences Institute, University of Southern California, Marina del Rey, CA, USA","[Inf. Sci. Inst., Univ. of Southern California, Marina del Rey, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Information Sciences Institute, University of Southern California, Marina del Rey, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"[Inf. Sci. Inst., Univ. of Southern California, Marina del Rey, CA, USA]","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021181344","display_name":"Weimin Shen","orcid":"https://orcid.org/0000-0002-1029-1070"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei-Min Shen","raw_affiliation_strings":["Information Sciences Institute, University of Southern California, Marina del Rey, CA, USA","[Inf. Sci. Inst., Univ. of Southern California, Marina del Rey, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Information Sciences Institute, University of Southern California, Marina del Rey, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"[Inf. Sci. Inst., Univ. of Southern California, Marina del Rey, CA, USA]","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":null,"apc_paid":null,"fwci":5.0391,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.94774267,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"2074","last_page":"2080"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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":1.0,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9904999732971191,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9883000254631042,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.9095870852470398},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7545504570007324},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6705459356307983},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6274756193161011},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5494956374168396},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5071578025817871},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3721107244491577},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3667323589324951},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19766715168952942},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13251200318336487}],"concepts":[{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.9095870852470398},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7545504570007324},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6705459356307983},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6274756193161011},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5494956374168396},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5071578025817871},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3721107244491577},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3667323589324951},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19766715168952942},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13251200318336487},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2004.1389703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.70.9093","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.70.9093","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.isi.edu/~salemi/papers/PSWS_IROS04_Final.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1495832427","https://openalex.org/W1526777436","https://openalex.org/W1556627432","https://openalex.org/W1562139877","https://openalex.org/W1580007540","https://openalex.org/W1607797084","https://openalex.org/W2022690874","https://openalex.org/W2036070388","https://openalex.org/W2041708305","https://openalex.org/W2097009171","https://openalex.org/W2101392651","https://openalex.org/W2119534954","https://openalex.org/W2120644951","https://openalex.org/W2133773873","https://openalex.org/W2134941690","https://openalex.org/W2167586774","https://openalex.org/W2167983353","https://openalex.org/W6633415235","https://openalex.org/W6634827117","https://openalex.org/W6659403488","https://openalex.org/W6679960776"],"related_works":["https://openalex.org/W2357657342","https://openalex.org/W2153432761","https://openalex.org/W1580144672","https://openalex.org/W4242251885","https://openalex.org/W2130472321","https://openalex.org/W2382672788","https://openalex.org/W2387766148","https://openalex.org/W2365996311","https://openalex.org/W2387500363","https://openalex.org/W2544276806"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"two":[3],"contributions":[4],"for":[5,28,86],"chain":[6],"typed":[7],"self-reconfigurable":[8],"robots:":[9],"a":[10,23,39,47,54,61,68,74,96],"very":[11],"illustrative":[12],"self-reconfiguration":[13],"task":[14,82],"changing":[15],"from":[16],"\"I\"":[17],"shape":[18],"to":[19,43,53,73,104,108,137,164],"\"T\"":[20],"shape,":[21],"and":[22,31,71,120,125,148,155],"sensor-based":[24,97,147],"distributed":[25,102],"control":[26,103,144],"method":[27],"automatic":[29],"planning":[30],"execution":[32],"of":[33,63,113],"self-reconfiguration.":[34],"In":[35],"the":[36,51,58,64,106,111,118,121,134,138,151,158,171,176],"\"I-to-T\"":[37],"task,":[38],"snake":[40],"robot":[41,107],"is":[42,146],"reconfigure":[44],"itself":[45],"into":[46],"tripod":[48],"by":[49,170,175],"docking":[50],"tail":[52,119],"target":[55,122],"module":[56],"in":[57,133,157],"body,":[59],"releasing":[60],"portion":[62],"connected":[65],"mass":[66],"as":[67],"new":[69,75,143],"leg,":[70],"switching":[72],"gait":[76],"automatically.":[77],"We":[78,93],"first":[79],"accomplished":[80],"this":[81,142],"using":[83,99,123],"predetermined":[84],"instructions":[85],"individual":[87],"modules":[88],"without":[89],"considering":[90],"sensor":[91],"inputs.":[92],"then":[94],"developed":[95],"approach":[98,145],"our":[100],"hormone-inspired":[101],"allow":[105],"dynamically":[109],"accept":[110],"point":[112],"connection":[114],"at":[115],"run-time,":[116],"align":[117],"sensors,":[124],"select":[126],"appropriate":[127],"actions":[128],"based":[129],"on":[130],"modules'":[131],"location":[132],"configuration.":[135],"Compared":[136],"standard":[139],"inverse":[140],"kinematics,":[141],"can":[149,161],"endure":[150],"limited":[152],"computational":[153],"resources":[154],"uncertainties":[156],"connections.":[159],"It":[160],"be":[162],"applied":[163],"self-reconfigurations":[165],"that":[166],"are":[167],"not":[168],"designed":[169],"programmers":[172],"but":[173],"triggered":[174],"environment.":[177]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}