{"id":"https://openalex.org/W2563752612","doi":"https://doi.org/10.1109/iros.2016.7759450","title":"A Self-Stabilizing Algorithm for the Foraging Problem in Swarm Robotic Systems","display_name":"A Self-Stabilizing Algorithm for the Foraging Problem in Swarm Robotic Systems","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2563752612","doi":"https://doi.org/10.1109/iros.2016.7759450","mag":"2563752612"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759450","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759450","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":"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/A5103452971","display_name":"Guang Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I162577319","display_name":"The University of Texas at Dallas","ror":"https://ror.org/049emcs32","country_code":"US","type":"education","lineage":["https://openalex.org/I162577319"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guang Zhou","raw_affiliation_strings":["Department of Computer Science, University of Texas at Dallas, Richardson, Texas, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Texas at Dallas, Richardson, Texas, USA","institution_ids":["https://openalex.org/I162577319"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071513393","display_name":"Farokh Bastani","orcid":null},"institutions":[{"id":"https://openalex.org/I162577319","display_name":"The University of Texas at Dallas","ror":"https://ror.org/049emcs32","country_code":"US","type":"education","lineage":["https://openalex.org/I162577319"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Farokh Bastani","raw_affiliation_strings":["Department of Computer Science, University of Texas at Dallas, Richardson, Texas, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Texas at Dallas, Richardson, Texas, USA","institution_ids":["https://openalex.org/I162577319"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112110408","display_name":"Wei Zhu","orcid":"https://orcid.org/0000-0003-3779-7618"},"institutions":[{"id":"https://openalex.org/I162577319","display_name":"The University of Texas at Dallas","ror":"https://ror.org/049emcs32","country_code":"US","type":"education","lineage":["https://openalex.org/I162577319"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Zhu","raw_affiliation_strings":["Department of Computer Science, University of Texas at Dallas, Richardson, Texas, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Texas at Dallas, Richardson, Texas, USA","institution_ids":["https://openalex.org/I162577319"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111903897","display_name":"I\u2010Ling Yen","orcid":null},"institutions":[{"id":"https://openalex.org/I162577319","display_name":"The University of Texas at Dallas","ror":"https://ror.org/049emcs32","country_code":"US","type":"education","lineage":["https://openalex.org/I162577319"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"I-Ling Yen","raw_affiliation_strings":["Department of Computer Science, University of Texas at Dallas, Richardson, Texas, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Texas at Dallas, Richardson, Texas, USA","institution_ids":["https://openalex.org/I162577319"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2674,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.6447849,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"11","issue":null,"first_page":"2907","last_page":"2912"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9997000098228455,"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":0.9997000098228455,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994999766349792,"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/T12288","display_name":"Optimization and Search Problems","score":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.8455907106399536},{"id":"https://openalex.org/keywords/foraging","display_name":"Foraging","score":0.7959114909172058},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.7454723715782166},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6802723407745361},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.6216784119606018},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6058011054992676},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6020359992980957},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5415376424789429},{"id":"https://openalex.org/keywords/ant-robotics","display_name":"Ant robotics","score":0.4737306833267212},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4474145472049713},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4312475621700287},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.42739999294281006},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3735508322715759},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25322243571281433},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2298104166984558},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13578331470489502},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.12921321392059326},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12698781490325928}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.8455907106399536},{"id":"https://openalex.org/C165287380","wikidata":"https://www.wikidata.org/wiki/Q2916569","display_name":"Foraging","level":2,"score":0.7959114909172058},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.7454723715782166},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6802723407745361},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.6216784119606018},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6058011054992676},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6020359992980957},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5415376424789429},{"id":"https://openalex.org/C44832474","wikidata":"https://www.wikidata.org/wiki/Q4770870","display_name":"Ant robotics","level":5,"score":0.4737306833267212},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4474145472049713},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4312475621700287},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.42739999294281006},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3735508322715759},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25322243571281433},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2298104166984558},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13578331470489502},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.12921321392059326},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12698781490325928},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759450","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759450","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W155446141","https://openalex.org/W1515418527","https://openalex.org/W1559507295","https://openalex.org/W1569529949","https://openalex.org/W1578969637","https://openalex.org/W1588186187","https://openalex.org/W1995657057","https://openalex.org/W2048246042","https://openalex.org/W2048414671","https://openalex.org/W2050798338","https://openalex.org/W2100903798","https://openalex.org/W2154315333","https://openalex.org/W2165718261","https://openalex.org/W4233908081","https://openalex.org/W4236981972","https://openalex.org/W4292083457","https://openalex.org/W6819143397"],"related_works":["https://openalex.org/W2518382144","https://openalex.org/W1713666988","https://openalex.org/W2611942912","https://openalex.org/W1966857494","https://openalex.org/W617387166","https://openalex.org/W2594816432","https://openalex.org/W1600534566","https://openalex.org/W2408644808","https://openalex.org/W1583262759","https://openalex.org/W2071893642"],"abstract_inverted_index":{"The":[0,156],"foraging":[1,50,81,131,161],"problem,":[2],"which":[3,95],"evolved":[4],"from":[5,24,206],"ants":[6],"finding":[7],"food":[8],"and":[9,78,113,133,137,153,200,220],"delivering":[10],"them":[11],"to":[12,21,27,70,75,145,174,193,215],"the":[13,49,66,80,89,93,100,115,119,130,138,146,160,175,178,195,201,217],"nest,":[14],"is":[15,39,121,151,167],"for":[16,65,92,129,224],"a":[17,25,28,43,62,72,110],"swarm":[18,67,157,182],"of":[19,33,118,140,177,197],"robots":[20,34,101],"transport":[22,76,107],"objects":[23,77,108],"source":[26],"destination.":[29],"To":[30],"avoid":[31],"collision":[32],"or":[35,56],"congestions,":[36],"object":[37,225],"transportation":[38,116],"generally":[40],"conducted":[41],"in":[42,103,109],"pipelining":[44],"manner.":[45],"Existing":[46],"solutions":[47],"towards":[48],"problem":[51,132],"either":[52],"have":[53],"performance":[54,223],"problems":[55],"cannot":[57],"tolerate":[58],"failures.":[59],"We":[60,190],"present":[61],"self-stabilizing":[63,127],"solution":[64,150],"robotic":[68],"system":[69,120],"form":[71],"pipeline":[73,111],"structure":[74,112],"achieve":[79,159,187],"task.":[82],"In":[83],"this":[84],"paper,":[85],"we":[86,124],"first":[87],"define":[88],"stable":[90,179,218],"state":[91,219],"swarm,":[94],"includes":[96],"two":[97],"requirements:":[98],"(1)":[99],"operate":[102],"non-overlapping":[104],"regions,":[105],"i.e.,":[106],"(2)":[114],"rate":[117],"optimal.":[122],"Then,":[123],"introduce":[125],"our":[126,149,181,198,209],"algorithm":[128,210],"prove":[134],"its":[135,141],"convergence":[136,142],"correctness":[139],"properties.":[143],"Due":[144,173],"self-stabilization":[147],"nature,":[148],"decentralized":[152],"fault":[154],"tolerant.":[155],"can":[158,186,211],"task":[162],"as":[163,165],"long":[164],"there":[166],"at":[168],"least":[169],"one":[170],"working":[171],"robot.":[172],"definition":[176],"state,":[180,208],"system,":[183],"when":[184],"converged,":[185],"optimal":[188,222],"performance.":[189],"conduct":[191],"simulations":[192],"evaluate":[194],"effectiveness":[196],"algorithm,":[199],"experimental":[202],"results":[203],"show":[204],"that":[205],"any":[207],"converge":[212],"very":[213],"quickly":[214],"reach":[216],"provide":[221],"transportation.":[226]},"counts_by_year":[{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}