{"id":"https://openalex.org/W2164304210","doi":"https://doi.org/10.1109/iros.2009.5354346","title":"Robust and reversible self-reconfiguration","display_name":"Robust and reversible self-reconfiguration","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2164304210","doi":"https://doi.org/10.1109/iros.2009.5354346","mag":"2164304210"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354346","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5058259474","display_name":"Ulrik Pagh Schultz","orcid":"https://orcid.org/0000-0003-4119-2689"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]},{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":true,"raw_author_name":"Ulrik P. Schultz","raw_affiliation_strings":["Modular Robotics Lab, Maersk Mc Kinney Moller Institute, University of Southern Denmark, Denmark"],"affiliations":[{"raw_affiliation_string":"Modular Robotics Lab, Maersk Mc Kinney Moller Institute, University of Southern Denmark, Denmark","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061776147","display_name":"Mirko Bordignon","orcid":null},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]},{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Mirko Bordignon","raw_affiliation_strings":["Modular Robotics Lab, Maersk Mc Kinney Moller Institute, University of Southern Denmark, Denmark"],"affiliations":[{"raw_affiliation_string":"Modular Robotics Lab, Maersk Mc Kinney Moller Institute, University of Southern Denmark, Denmark","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013743642","display_name":"Kasper St\u00f8y","orcid":"https://orcid.org/0000-0003-0179-2487"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]},{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Kasper Stoy","raw_affiliation_strings":["Modular Robotics Lab, Maersk Mc Kinney Moller Institute, University of Southern Denmark, Denmark"],"affiliations":[{"raw_affiliation_string":"Modular Robotics Lab, Maersk Mc Kinney Moller Institute, University of Southern Denmark, Denmark","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5058259474"],"corresponding_institution_ids":["https://openalex.org/I177969490","https://openalex.org/I184886455"],"apc_list":null,"apc_paid":null,"fwci":1.1608,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.82308978,"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":"5287","last_page":"5294"},"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/T10207","display_name":"Advanced biosensing and bioanalysis techniques","score":0.960099995136261,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9491000175476074,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.964762806892395},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.77113938331604},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.6042709946632385},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5892654061317444},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.52708500623703},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.49467918276786804},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.47249093651771545},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.28070032596588135},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18665966391563416},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.17717668414115906},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1729092299938202},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.15409934520721436}],"concepts":[{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.964762806892395},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.77113938331604},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.6042709946632385},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5892654061317444},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.52708500623703},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.49467918276786804},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.47249093651771545},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.28070032596588135},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18665966391563416},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.17717668414115906},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1729092299938202},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.15409934520721436}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2009.5354346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354346","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:sdu.dk:publications/de688470-fac0-11de-aefb-000ea68e967b","is_oa":false,"landing_page_url":"https://portal.findresearcher.sdu.dk/da/publications/de688470-fac0-11de-aefb-000ea68e967b","pdf_url":null,"source":{"id":"https://openalex.org/S4306400423","display_name":"University of Southern Denmark Research Portal (University of Southern Denmark)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177969490","host_organization_name":"University of Southern Denmark","host_organization_lineage":["https://openalex.org/I177969490"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Schultz, U P, Bordignon, M & St\u00f8y, K 2009, Robust and Reversible Self-Reconfiguration. in Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE Press, pp. 5287-5294, The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, United States, 11/10/2009.","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W47215758","https://openalex.org/W1490491279","https://openalex.org/W1522017772","https://openalex.org/W1530610153","https://openalex.org/W1972376146","https://openalex.org/W2028057253","https://openalex.org/W2056453745","https://openalex.org/W2097521047","https://openalex.org/W2099032798","https://openalex.org/W2106587277","https://openalex.org/W2128436887","https://openalex.org/W2129992334","https://openalex.org/W2148499304","https://openalex.org/W2149602461","https://openalex.org/W2149841830","https://openalex.org/W2156722939","https://openalex.org/W2164438790","https://openalex.org/W2167382904","https://openalex.org/W2626578863","https://openalex.org/W3036538858","https://openalex.org/W4249335395","https://openalex.org/W4285719527","https://openalex.org/W6601906501","https://openalex.org/W6631903973","https://openalex.org/W6684589901","https://openalex.org/W6740020426","https://openalex.org/W6779967643"],"related_works":["https://openalex.org/W2963148304","https://openalex.org/W2720417647","https://openalex.org/W4386781757","https://openalex.org/W2554741953","https://openalex.org/W4225163935","https://openalex.org/W86933508","https://openalex.org/W2064761790","https://openalex.org/W2765089336","https://openalex.org/W2663455904","https://openalex.org/W2313074614"],"abstract_inverted_index":{"Modular,":[0],"self-reconfigurable":[1],"robots":[2,4],"are":[3,19],"that":[5,54,82,94],"can":[6,22,104],"change":[7],"their":[8],"own":[9],"shape":[10],"by":[11,25],"physically":[12],"rearranging":[13],"the":[14,35,39,43,47,57,64,86,108,152,159,163,184],"modules":[15],"from":[16],"which":[17],"they":[18],"built.":[20],"Self-reconfiguration":[21],"be":[23,105],"controlled":[24],"e.g.":[26],"an":[27],"off-line":[28],"planner,":[29,112],"but":[30],"numerous":[31],"implementation":[32],"issues":[33],"hamper":[34],"actual":[36],"self-reconfiguration":[37,58,65,84,148,170,181,190],"process:":[38],"continuous":[40],"evolution":[41],"of":[42,49,85,99,110,118,125,140,165],"communication":[44,92],"topology":[45],"increases":[46],"risk":[48],"communications":[50],"failure,":[51],"generating":[52],"code":[53],"correctly":[55],"controls":[56,83],"process":[59,66],"is":[60,67,143,150,155],"non-trivial,":[61],"and":[62,69,128,133,187],"hand-tuning":[63],"tedious":[68],"error-prone.":[70],"To":[71],"address":[72],"these":[73],"issues,":[74],"we":[75],"have":[76],"developed":[77],"a":[78,90,111,131,137,147,188],"distributed":[79],"scripting":[80],"language":[81,103,142],"ATRON":[87,185],"robot":[88,186],"using":[89,183,192],"robust":[91,132],"scheme":[93],"relies":[95],"on":[96],"local":[97],"broadcast":[98],"shared":[100],"state.":[101],"This":[102],"used":[106],"as":[107],"target":[109],"offers":[113],"direct":[114],"support":[115],"for":[116],"parallelization":[117],"independent":[119],"operations":[120],"while":[121],"maintaining":[122],"correct":[123],"sequentiality":[124],"dependent":[126],"operations,":[127],"compiles":[129],"to":[130,158,168],"efficient":[134],"implementation.":[135],"Moreover,":[136],"novel":[138],"feature":[139],"this":[141],"its":[144],"reversibility:":[145],"once":[146],"sequence":[149,154],"described":[151],"reverse":[153],"automatically":[156],"available":[157],"programmer,":[160],"significantly":[161],"reducing":[162],"amount":[164],"work":[166],"needed":[167],"deploy":[169],"in":[171],"larger":[172],"scenarios.":[173],"We":[174],"demonstrate":[175],"our":[176],"approach":[177],"with":[178],"long-running":[179],"(reversible)":[180],"experiments":[182],"reversible":[189],"experiment":[191],"simulated":[193],"MTRAN":[194],"modules.":[195]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
