{"id":"https://openalex.org/W2751488618","doi":"https://doi.org/10.1109/iros.2017.8206201","title":"Evolutionary cost-optimal composition synthesis of modular robots considering a given task","display_name":"Evolutionary cost-optimal composition synthesis of modular robots considering a given task","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2751488618","doi":"https://doi.org/10.1109/iros.2017.8206201","mag":"2751488618"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206201","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206201","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/1379659","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019572857","display_name":"Esra \u0130\u00e7er","orcid":"https://orcid.org/0000-0002-5807-4438"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Esra Icer","raw_affiliation_strings":["Department of Computer Science, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101849304","display_name":"Heba A. Hassan","orcid":"https://orcid.org/0000-0002-3379-181X"},"institutions":[{"id":"https://openalex.org/I80693520","display_name":"American University in Cairo","ror":"https://ror.org/0176yqn58","country_code":"EG","type":"education","lineage":["https://openalex.org/I80693520"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Heba A. Hassan","raw_affiliation_strings":["The American University in Cairo, New Cairo, Cairo, EG"],"affiliations":[{"raw_affiliation_string":"The American University in Cairo, New Cairo, Cairo, EG","institution_ids":["https://openalex.org/I80693520"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111858848","display_name":"Khaled El-Ayat","orcid":null},"institutions":[{"id":"https://openalex.org/I80693520","display_name":"American University in Cairo","ror":"https://ror.org/0176yqn58","country_code":"EG","type":"education","lineage":["https://openalex.org/I80693520"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Khaled El-Ayat","raw_affiliation_strings":["Department of Computer Science and Engineering, American University in Cairo, Cairo, Egypt"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, American University in Cairo, Cairo, Egypt","institution_ids":["https://openalex.org/I80693520"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005383495","display_name":"Matthias Althoff","orcid":"https://orcid.org/0000-0003-3733-842X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Althoff","raw_affiliation_strings":["Department of Computer Science, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5019572857"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":1.1864,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.77825984,"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":"3562","last_page":"3568"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9983000159263611,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/modular-design","display_name":"Modular design","score":0.8145155906677246},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7674603462219238},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7571885585784912},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7176730036735535},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.6571094393730164},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6256867051124573},{"id":"https://openalex.org/keywords/composition","display_name":"Composition (language)","score":0.6083641052246094},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5720024108886719},{"id":"https://openalex.org/keywords/evolutionary-computation","display_name":"Evolutionary computation","score":0.49081525206565857},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.47534844279289246},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.41044333577156067},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.35311925411224365},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.35232996940612793},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33187615871429443},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24754291772842407},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.22655963897705078},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2053329348564148},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1740906834602356},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.13285046815872192},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08872359991073608}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8145155906677246},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7674603462219238},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7571885585784912},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7176730036735535},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.6571094393730164},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6256867051124573},{"id":"https://openalex.org/C40231798","wikidata":"https://www.wikidata.org/wiki/Q1333743","display_name":"Composition (language)","level":2,"score":0.6083641052246094},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5720024108886719},{"id":"https://openalex.org/C105902424","wikidata":"https://www.wikidata.org/wiki/Q1197129","display_name":"Evolutionary computation","level":2,"score":0.49081525206565857},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.47534844279289246},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.41044333577156067},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.35311925411224365},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35232996940612793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33187615871429443},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24754291772842407},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.22655963897705078},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2053329348564148},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1740906834602356},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.13285046815872192},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08872359991073608},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8206201","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206201","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1379659","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1379659","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1379659","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1379659","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W143781865","https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W1541288193","https://openalex.org/W1864838508","https://openalex.org/W1973905751","https://openalex.org/W2002855924","https://openalex.org/W2051743601","https://openalex.org/W2072955639","https://openalex.org/W2095668460","https://openalex.org/W2103120971","https://openalex.org/W2122527572","https://openalex.org/W2122597423","https://openalex.org/W2125198713","https://openalex.org/W2128990851","https://openalex.org/W2134945406","https://openalex.org/W2141664020","https://openalex.org/W2153340253","https://openalex.org/W2412812481","https://openalex.org/W2527947577","https://openalex.org/W2611243847","https://openalex.org/W2750015945","https://openalex.org/W4248446246","https://openalex.org/W6605861540","https://openalex.org/W6743689871"],"related_works":["https://openalex.org/W2720417647","https://openalex.org/W4225163935","https://openalex.org/W86933508","https://openalex.org/W2765089336","https://openalex.org/W2663455904","https://openalex.org/W2130464959","https://openalex.org/W2166742878","https://openalex.org/W2313074614","https://openalex.org/W2883992449","https://openalex.org/W1942058526"],"abstract_inverted_index":{"Commercially":[0],"available":[1],"robots":[2,27],"cannot":[3],"always":[4],"be":[5,37],"adapted":[6],"to":[7,31],"arbitrary":[8],"tasks":[9],"or":[10,20],"environments,":[11],"particularly":[12],"when":[13],"the":[14,18,24,51,62,77,108,120],"task":[15],"would":[16],"exceed":[17],"kinematic":[19],"dynamic":[21],"limits":[22],"of":[23,45,49,65,75],"robot.":[25],"Modular":[26],"offer":[28],"a":[29,43,55,87],"solution":[30,79],"this":[32,72],"problem,":[33],"since":[34,61],"they":[35],"can":[36],"reconfigured":[38],"in":[39,119],"various":[40],"ways":[41],"from":[42],"set":[44],"modules.":[46],"The":[47],"challenge":[48],"choosing":[50],"optimal":[52],"composition":[53,89,111],"for":[54],"given":[56],"task,":[57],"however,":[58],"is":[59,67],"hard":[60],"search":[63],"space":[64],"compositions":[66,83],"vast.":[68],"Our":[69],"approach":[70],"addresses":[71],"problem:":[73],"instead":[74],"finding":[76],"cost-optimal":[78,109],"over":[80],"all":[81],"possible":[82],"individually,":[84],"we":[85],"propose":[86],"time-efficient":[88],"synthesis":[90],"method":[91],"which":[92],"uses":[93],"evolutionary":[94],"algorithms":[95],"by":[96],"taking":[97],"task-related":[98],"objectives":[99],"into":[100],"account.":[101],"Simulations":[102],"show":[103],"that":[104],"our":[105],"algorithm":[106],"finds":[107],"module":[110],"with":[112],"less":[113],"computation":[114],"time":[115],"than":[116],"other":[117],"methods":[118],"literature.":[121]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}