{"id":"https://openalex.org/W2007846897","doi":"https://doi.org/10.1109/iros.2010.5652055","title":"Three dimensional deployment of robot swarms","display_name":"Three dimensional deployment of robot swarms","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2007846897","doi":"https://doi.org/10.1109/iros.2010.5652055","mag":"2007846897"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5652055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5652055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://dspace.jaist.ac.jp/dspace/bitstream/10119/9553/1/16409-1.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052831617","display_name":"Geun-Ho Lee","orcid":"https://orcid.org/0000-0002-0333-2778"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Geunho Lee","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","School of Information Science Japan Advanced Institute of Science and Technology (JAIST) 1-1 Asahidai Nomi Ishikawa 923-1292 Japan"],"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"School of Information Science Japan Advanced Institute of Science and Technology (JAIST) 1-1 Asahidai Nomi Ishikawa 923-1292 Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103396637","display_name":"Yasuhiro Nishimura","orcid":null},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuhiro Nishimura","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","School of Information Science Japan Advanced Institute of Science and Technology (JAIST) 1-1 Asahidai Nomi Ishikawa 923-1292 Japan"],"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"School of Information Science Japan Advanced Institute of Science and Technology (JAIST) 1-1 Asahidai Nomi Ishikawa 923-1292 Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001347778","display_name":"Kazutaka Tatara","orcid":null},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazutaka Tatara","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","School of Information Science Japan Advanced Institute of Science and Technology (JAIST) 1-1 Asahidai Nomi Ishikawa 923-1292 Japan"],"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"School of Information Science Japan Advanced Institute of Science and Technology (JAIST) 1-1 Asahidai Nomi Ishikawa 923-1292 Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000452220","display_name":"Nak Young Chong","orcid":"https://orcid.org/0000-0001-5736-0769"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nak Young Chong","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","School of Information Science Japan Advanced Institute of Science and Technology (JAIST) 1-1 Asahidai Nomi Ishikawa 923-1292 Japan"],"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"School of Information Science Japan Advanced Institute of Science and Technology (JAIST) 1-1 Asahidai Nomi Ishikawa 923-1292 Japan","institution_ids":["https://openalex.org/I177738480"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5052831617"],"corresponding_institution_ids":["https://openalex.org/I177738480"],"apc_list":null,"apc_paid":null,"fwci":0.7451,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.72744344,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"5073","last_page":"5078"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998000264167786,"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":0.9807999730110168,"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/robot","display_name":"Robot","score":0.8159967660903931},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7061411142349243},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.6863796710968018},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6428478956222534},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.613850474357605},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5981068015098572},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5725815892219543},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.5669775605201721},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5600512623786926},{"id":"https://openalex.org/keywords/tetrahedron","display_name":"Tetrahedron","score":0.4802839457988739},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.45140066742897034},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3194466233253479},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16971471905708313}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8159967660903931},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7061411142349243},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6863796710968018},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6428478956222534},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.613850474357605},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5981068015098572},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5725815892219543},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.5669775605201721},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5600512623786926},{"id":"https://openalex.org/C105239961","wikidata":"https://www.wikidata.org/wiki/Q160003","display_name":"Tetrahedron","level":2,"score":0.4802839457988739},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.45140066742897034},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3194466233253479},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16971471905708313},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2010.5652055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5652055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:irdb.nii.ac.jp:01333:0002023073","is_oa":true,"landing_page_url":"http://hdl.handle.net/10119/9553","pdf_url":"https://dspace.jaist.ac.jp/dspace/bitstream/10119/9553/1/16409-1.pdf","source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"conference paper"}],"best_oa_location":{"id":"pmh:oai:irdb.nii.ac.jp:01333:0002023073","is_oa":true,"landing_page_url":"http://hdl.handle.net/10119/9553","pdf_url":"https://dspace.jaist.ac.jp/dspace/bitstream/10119/9553/1/16409-1.pdf","source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"conference paper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2007846897.pdf","grobid_xml":"https://content.openalex.org/works/W2007846897.grobid-xml"},"referenced_works_count":18,"referenced_works":["https://openalex.org/W83533993","https://openalex.org/W94944938","https://openalex.org/W1487127700","https://openalex.org/W1534096605","https://openalex.org/W1554734926","https://openalex.org/W1560128376","https://openalex.org/W2000779240","https://openalex.org/W2019258694","https://openalex.org/W2060348492","https://openalex.org/W2060877910","https://openalex.org/W2080097369","https://openalex.org/W2105850748","https://openalex.org/W2118755210","https://openalex.org/W2139024087","https://openalex.org/W2145860909","https://openalex.org/W2162735024","https://openalex.org/W2171126290","https://openalex.org/W2321749833"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W2518382144","https://openalex.org/W1988876749","https://openalex.org/W3094438089","https://openalex.org/W65954170","https://openalex.org/W1600534566","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,69,91,104,109],"deployment":[4],"problem":[5],"for":[6],"a":[7,33,46,62,73,79,85],"swarm":[8,74],"of":[9,75,81,90,108],"autonomous":[10],"mobile":[11],"robots":[12,31,44,59,76],"initially":[13],"randomly":[14],"distributed":[15],"in":[16,45,84],"3":[17],"dimensional":[18],"space.":[19,87],"A":[20],"fully":[21],"decentralized":[22],"geometric":[23],"self-configuration":[24],"approach":[25],"is":[26,93],"proposed":[27,70,110],"to":[28,77],"deploy":[29],"individual":[30],"at":[32],"given":[34],"spatial":[35],"density.":[36],"Specifically,":[37],"each":[38],"robot":[39],"interacts":[40],"with":[41],"three":[42],"neighboring":[43],"selective":[47],"and":[48,106],"dynamic":[49],"fashion":[50],"without":[51],"using":[52,96],"any":[53],"explicit":[54],"communication":[55],"so":[56],"that":[57],"four":[58],"eventually":[60],"form":[61],"regular":[63,82],"tetrahedron.":[64],"Using":[65],"such":[66],"local":[67],"interactions,":[68],"algorithms":[71,92],"enable":[72],"span":[78],"network":[80],"tetrahedrons":[83],"designated":[86],"The":[88],"convergence":[89],"theoretically":[94],"proved":[95],"Lyapunov":[97],"theory.":[98],"Through":[99],"extensive":[100],"simulations,":[101],"we":[102],"validate":[103],"effectiveness":[105],"scalability":[107],"algorithms.":[111]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}