{"id":"https://openalex.org/W4312274092","doi":"https://doi.org/10.1109/iros47612.2022.9981959","title":"Decentralized Control of Minimalistic Robotic Swarms For Guaranteed Target Encapsulation","display_name":"Decentralized Control of Minimalistic Robotic Swarms For Guaranteed Target Encapsulation","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312274092","doi":"https://doi.org/10.1109/iros47612.2022.9981959"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981959","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981959","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5035938170","display_name":"Himani Sinhmar","orcid":"https://orcid.org/0000-0002-0458-9401"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Himani Sinhmar","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University,Ithaca,NY,USA,14853"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University,Ithaca,NY,USA,14853","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020074157","display_name":"Hadas Kress\u2010Gazit","orcid":"https://orcid.org/0000-0002-7754-1011"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hadas Kress-Gazit","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University,Ithaca,NY,USA,14853"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University,Ithaca,NY,USA,14853","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7251","last_page":"7258"},"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":0.9998999834060669,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9994000196456909,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/novelty","display_name":"Novelty","score":0.7641490697860718},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.734272837638855},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.6867290139198303},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6795607209205627},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6278658509254456},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5320782661437988},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.4292204976081848},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35134583711624146},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31778818368911743},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.06878924369812012}],"concepts":[{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.7641490697860718},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.734272837638855},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.6867290139198303},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6795607209205627},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6278658509254456},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5320782661437988},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.4292204976081848},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35134583711624146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31778818368911743},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.06878924369812012},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C27206212","wikidata":"https://www.wikidata.org/wiki/Q34178","display_name":"Theology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981959","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981959","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W183077454","https://openalex.org/W1564897360","https://openalex.org/W1569529949","https://openalex.org/W1571713165","https://openalex.org/W1865403180","https://openalex.org/W1986312299","https://openalex.org/W2008963100","https://openalex.org/W2054382008","https://openalex.org/W2062223562","https://openalex.org/W2108526989","https://openalex.org/W2119899283","https://openalex.org/W2126361298","https://openalex.org/W2137602921","https://openalex.org/W2161481732","https://openalex.org/W2168046319","https://openalex.org/W2170452944","https://openalex.org/W2182646039","https://openalex.org/W2468234470","https://openalex.org/W2793791536","https://openalex.org/W2911032706","https://openalex.org/W2913563956","https://openalex.org/W2913602408","https://openalex.org/W2983535507","https://openalex.org/W3012195599","https://openalex.org/W3014890778","https://openalex.org/W3036916079","https://openalex.org/W3092133686","https://openalex.org/W4288324047","https://openalex.org/W6685947622","https://openalex.org/W6693686563","https://openalex.org/W6764604732","https://openalex.org/W6794267051"],"related_works":["https://openalex.org/W2381242807","https://openalex.org/W3126131230","https://openalex.org/W2347541121","https://openalex.org/W2080951048","https://openalex.org/W4288804799","https://openalex.org/W3032237421","https://openalex.org/W2901195353","https://openalex.org/W2530004804","https://openalex.org/W2590712470","https://openalex.org/W1966857494"],"abstract_inverted_index":{"We":[0,21],"propose":[1],"a":[2,7],"decentralized":[3],"control":[4],"algorithm":[5],"for":[6,27],"minimalistic":[8],"robotic":[9],"swarm":[10,57],"with":[11,39,59,88],"limited":[12],"capabilities":[13],"such":[14],"that":[15],"the":[16,23,34,51,73,84,92,96],"desired":[17,55],"global":[18],"behavior":[19,58,86],"emerges.":[20],"consider":[22],"problem":[24],"of":[25,47,54,72,77,91],"searching":[26],"and":[28,42,69,99],"encapsulating":[29],"various":[30],"targets":[31],"present":[32],"in":[33,95],"environment":[35],"while":[36],"avoiding":[37],"collisions":[38],"both":[40],"static":[41],"dynamic":[43],"obstacles.":[44],"The":[45],"novelty":[46],"this":[48],"work":[49],"is":[50],"guaranteed":[52],"generation":[53],"complex":[56],"constrained":[60],"individual":[61],"robots":[62],"which":[63],"have":[64],"no":[65,67,70],"memory,":[66],"localization,":[68],"knowledge":[71],"exact":[74],"relative":[75],"locations":[76],"their":[78],"neighbors.":[79],"Moreover,":[80],"we":[81],"analyze":[82],"how":[83],"emergent":[85],"changes":[87],"different":[89],"parameters":[90],"task,":[93],"noise":[94],"sensor":[97],"reading,":[98],"asynchronous":[100],"execution.":[101]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2023-01-04T00:00:00"}