{"id":"https://openalex.org/W2989661592","doi":"https://doi.org/10.1109/iros40897.2019.8967698","title":"Decentralized Pose Control of Modular Reconfigurable Robots Operating in Liquid Environments","display_name":"Decentralized Pose Control of Modular Reconfigurable Robots Operating in Liquid Environments","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2989661592","doi":"https://doi.org/10.1109/iros40897.2019.8967698","mag":"2989661592"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967698","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967698","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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://hdl.handle.net/1721.1/137166","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047417051","display_name":"Jo\u00e3o V. Amorim Marques","orcid":"https://orcid.org/0000-0003-4231-3200"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jo\u00e3o V. Amorim Marques","raw_affiliation_strings":["The University of Sheffield, Mappin St,Department of Automatic Control and Systems Engineering,Sheffield, S1 3JD,UK","Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin St, Sheffield, S1 3JD, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Sheffield, Mappin St,Department of Automatic Control and Systems Engineering,Sheffield, S1 3JD,UK","institution_ids":["https://openalex.org/I91136226"]},{"raw_affiliation_string":"Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin St, Sheffield, S1 3JD, UK","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054372385","display_name":"An\u0131l \u00d6zdemir","orcid":"https://orcid.org/0000-0003-0014-4699"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Anil \u00d6zdemir","raw_affiliation_strings":["The University of Sheffield, Mappin St,Department of Automatic Control and Systems Engineering,Sheffield, S1 3JD,UK","Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin St, Sheffield, S1 3JD, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Sheffield, Mappin St,Department of Automatic Control and Systems Engineering,Sheffield, S1 3JD,UK","institution_ids":["https://openalex.org/I91136226"]},{"raw_affiliation_string":"Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin St, Sheffield, S1 3JD, UK","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101968022","display_name":"Matthew J. Doyle","orcid":"https://orcid.org/0000-0002-2349-8433"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Matthew J. Doyle","raw_affiliation_strings":["The University of Sheffield, Mappin St,Department of Automatic Control and Systems Engineering,Sheffield, S1 3JD,UK","Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin St, Sheffield, S1 3JD, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Sheffield, Mappin St,Department of Automatic Control and Systems Engineering,Sheffield, S1 3JD,UK","institution_ids":["https://openalex.org/I91136226"]},{"raw_affiliation_string":"Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin St, Sheffield, S1 3JD, UK","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I126820664","display_name":"Vassar College","ror":"https://ror.org/022x6qg61","country_code":"US","type":"education","lineage":["https://openalex.org/I126820664"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Lab,32 Vassar St, Cambridge,MA,USA,02139","Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology, 32 Vassar St, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Lab,32 Vassar St, Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology, 32 Vassar St, Cambridge, MA, USA","institution_ids":["https://openalex.org/I126820664","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107842199","display_name":"Roderich Gros","orcid":null},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Roderich Gro\u00df","raw_affiliation_strings":["The University of Sheffield, Mappin St,Department of Automatic Control and Systems Engineering,Sheffield, S1 3JD,UK","Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin St, Sheffield, S1 3JD, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Sheffield, Mappin St,Department of Automatic Control and Systems Engineering,Sheffield, S1 3JD,UK","institution_ids":["https://openalex.org/I91136226"]},{"raw_affiliation_string":"Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin St, Sheffield, S1 3JD, UK","institution_ids":["https://openalex.org/I91136226"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2965,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.57894587,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"4855","last_page":"4861"},"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":0.9962000250816345,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9894999861717224,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.8024492859840393},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7596311569213867},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6677824854850769},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6320184469223022},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.5549861192703247},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5319984555244446},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5237172245979309},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4673979878425598},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37170663475990295},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3340079188346863},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2900583744049072},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22334399819374084},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19071972370147705}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8024492859840393},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7596311569213867},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6677824854850769},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6320184469223022},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.5549861192703247},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5319984555244446},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5237172245979309},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4673979878425598},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37170663475990295},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3340079188346863},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2900583744049072},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22334399819374084},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19071972370147705},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros40897.2019.8967698","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967698","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.whiterose.ac.uk:149450","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Proceedings Paper"},{"id":"pmh:oai:dspace.mit.edu:1721.1/137166","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/137166","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Other repository","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/137166","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/137166","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Other repository","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.46000000834465027,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W42831717","https://openalex.org/W167755092","https://openalex.org/W171800883","https://openalex.org/W1978743020","https://openalex.org/W1984426410","https://openalex.org/W2018274017","https://openalex.org/W2033146663","https://openalex.org/W2038928597","https://openalex.org/W2054381558","https://openalex.org/W2089090747","https://openalex.org/W2142425726","https://openalex.org/W2144912057","https://openalex.org/W2149841830","https://openalex.org/W2288715014","https://openalex.org/W2411763598","https://openalex.org/W2889738019","https://openalex.org/W2892035765","https://openalex.org/W6606940108"],"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/W2313074614","https://openalex.org/W2166742878","https://openalex.org/W2130464959","https://openalex.org/W2883992449","https://openalex.org/W1942058526"],"abstract_inverted_index":{"Modular":[0,116],"reconfigurable":[1,50],"robots":[2,53,97,155],"are":[3,88,101,122],"touted":[4],"for":[5,44,124],"their":[6,9,132],"flexibility,":[7],"as":[8],"bodies":[10],"can":[11,79],"assume":[12],"a":[13,105,109,136,152],"wide":[14],"range":[15],"of":[16,33,47,71,85,98,115,142,156],"shapes.":[17],"A":[18],"particular":[19],"challenge":[20],"is":[21],"to":[22,82,103],"make":[23],"them":[24],"move":[25,59],"efficiently":[26],"in":[27,55,164],"3D":[28,48,165],"without":[29],"compromising":[30],"the":[31,34,77,140,143],"scalability":[32],"system.":[35],"This":[36],"paper":[37],"proposes":[38],"decentralized":[39],"and":[40,58,129,131],"fully":[41],"reactive":[42],"controllers":[43,121],"pose":[45],"control":[46],"modular":[49],"robots.":[51],"The":[52],"operate":[54],"liquid":[56,166],"environments,":[57,126],"by":[60],"routing":[61],"fluid":[62],"through":[63],"themselves.":[64],"Each":[65],"module":[66],"uses":[67],"only":[68],"two":[69],"bits":[70,84],"sensory":[72],"information":[73,86],"per":[74],"face.":[75],"Additionally,":[76],"modules":[78,145],"use":[80],"up":[81],"five":[83],"that":[87,96],"exchanged":[89],"via":[90],"shared":[91],"power":[92],"lines.":[93],"We":[94],"prove":[95],"convex":[99],"shape":[100],"guaranteed":[102],"reach":[104],"goal":[106],"object":[107],"with":[108],"preferred":[110],"orientation.":[111],"Using":[112],"computer":[113],"simulations":[114],"Hydraulic":[117],"Propulsion":[118],"robots,":[119],"all":[120],"assessed":[123],"different":[125],"system":[127],"sizes":[128],"noise,":[130],"performances":[133],"compared":[134],"against":[135],"centralized":[137],"controller.":[138],"Given":[139],"simplicity":[141],"solutions,":[144],"could":[146,160],"be":[147],"realized":[148],"at":[149],"scales":[150],"below":[151],"millimeter-cube,":[153],"where":[154],"high":[157],"spatial":[158],"resolution":[159],"perform":[161],"accurate":[162],"movements":[163],"environments.":[167]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}