{"id":"https://openalex.org/W2530140903","doi":"https://doi.org/10.1109/iros.2016.7759431","title":"Characterization and validation of a novel robotic system for fluid-mediated programmable stochastic self-assembly","display_name":"Characterization and validation of a novel robotic system for fluid-mediated programmable stochastic self-assembly","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2530140903","doi":"https://doi.org/10.1109/iros.2016.7759431","mag":"2530140903"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759431","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759431","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/220547","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045749881","display_name":"Bahar Haghighat","orcid":"https://orcid.org/0000-0003-3348-4702"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Bahar Haghighat","raw_affiliation_strings":["Distributed Intelligent Systems and Algorithms Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Distributed Intelligent Systems and Algorithms Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080713076","display_name":"Alcherio Martinoli","orcid":"https://orcid.org/0000-0002-5201-7862"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alcherio Martinoli","raw_affiliation_strings":["Distributed Intelligent Systems and Algorithms Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Distributed Intelligent Systems and Algorithms Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2778","last_page":"2783"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.9980000257492065,"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"}},{"id":"https://openalex.org/T12452","display_name":"Electrowetting and Microfluidic Technologies","score":0.9857000112533569,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/computer-science","display_name":"Computer science","score":0.7025752663612366},{"id":"https://openalex.org/keywords/workstation","display_name":"Workstation","score":0.5600404739379883},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.512323260307312},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.4993016719818115},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.48647329211235046},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47221118211746216},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3367275595664978},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32983678579330444},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18725690245628357},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.09949097037315369}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7025752663612366},{"id":"https://openalex.org/C67953723","wikidata":"https://www.wikidata.org/wiki/Q192525","display_name":"Workstation","level":2,"score":0.5600404739379883},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.512323260307312},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.4993016719818115},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.48647329211235046},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47221118211746216},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3367275595664978},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32983678579330444},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18725690245628357},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.09949097037315369}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2016.7759431","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759431","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:220547","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/220547","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:220547","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/220547","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1489108251","https://openalex.org/W1506160189","https://openalex.org/W2001109243","https://openalex.org/W2015799454","https://openalex.org/W2018274017","https://openalex.org/W2030775133","https://openalex.org/W2034424493","https://openalex.org/W2086091825","https://openalex.org/W2099604484","https://openalex.org/W2105448662","https://openalex.org/W2111217402","https://openalex.org/W2139690710","https://openalex.org/W2483381266","https://openalex.org/W3150475113"],"related_works":["https://openalex.org/W2125564439","https://openalex.org/W2045348955","https://openalex.org/W2352028719","https://openalex.org/W2584886384","https://openalex.org/W1990245398","https://openalex.org/W2378667902","https://openalex.org/W2052769075","https://openalex.org/W2791088446","https://openalex.org/W4206808270","https://openalex.org/W2166936983"],"abstract_inverted_index":{"Several":[0],"self-assembly":[1,174],"systems":[2],"have":[3],"been":[4],"developed":[5],"in":[6],"recent":[7],"years,":[8],"where":[9],"depending":[10],"on":[11,171,212],"the":[12,15,19,22,24,52,67,92,97,102,118,133,143,146,152,156,173,213,216],"capabilities":[13],"of":[14,21,54,90,145,155,215],"building":[16],"blocks":[17],"and":[18,72,86,106,120,141,168,190,209],"controlability":[20],"environment,":[23],"assembly":[25],"process":[26,175],"is":[27,64,128,135,166,218],"guided":[28],"typically":[29],"through":[30],"either":[31],"a":[32,36,46,74,87,125,185,192,210],"fully":[33,37,55,58,186],"centralized":[34,56],"or":[35],"distributed":[38,59,187,193],"control":[39,60,180,188],"approach.":[40],"In":[41],"this":[42],"work,":[43],"we":[44],"present":[45],"novel":[47],"experimental":[48],"system":[49,63,119,134,157],"for":[50,158],"studying":[51],"range":[53],"to":[57,116,130,162],"strategies.":[61],"The":[62,203],"built":[65],"around":[66],"floating":[68],"3-cm-sized":[69],"Lily":[70],"robots,":[71],"comprises":[73],"water-filled":[75],"tank":[76],"with":[77,101,195],"peripheral":[78],"pumps,":[79],"an":[80,83,200],"overhead":[81,84],"camera,":[82],"projector,":[85],"workstation":[88],"capable":[89],"controlling":[91],"fluidic":[93],"flow":[94,164],"field,":[95],"setting":[96],"ambient":[98],"luminosity,":[99],"communicating":[100],"robots":[103],"over":[104],"radio,":[105],"visually":[107],"tracking":[108],"their":[109],"trajectories.":[110],"We":[111],"carry":[112],"out":[113],"several":[114],"experiments":[115],"characterize":[117],"validate":[121,142],"its":[122],"capabilities.":[123],"First,":[124],"statistical":[126],"analysis":[127],"conducted":[129],"show":[131],"that":[132],"governed":[136],"by":[137],"reaction":[138],"diffusion":[139],"dynamics,":[140],"applicability":[144],"standard":[147],"chemical":[148],"kinetics":[149],"modeling.":[150],"Additionally,":[151],"natural":[153],"tendency":[154],"structure":[159],"formation":[160,204],"subject":[161],"different":[163],"fields":[165],"investigated":[167],"corresponding":[169],"implications":[170],"guiding":[172],"are":[176,182,207],"discussed.":[177],"Finally,":[178],"two":[179],"approaches":[181],"studied:":[183],"1)":[184],"approach":[189,194],"2)":[191],"additional":[196],"central":[197],"supervision":[198],"exhibiting":[199],"improved":[201],"performance.":[202],"time":[205],"statistics":[206],"compared":[208],"discussion":[211],"generalization":[214],"method":[217],"provided.":[219]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
