{"id":"https://openalex.org/W4416750946","doi":"https://doi.org/10.1109/iros60139.2025.11246360","title":"Robust Robotic Assembly of Reusable, Rectangular Blocks","display_name":"Robust Robotic Assembly of Reusable, Rectangular Blocks","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750946","doi":"https://doi.org/10.1109/iros60139.2025.11246360"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246360","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246360","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5017942598","display_name":"Zhongming Huang","orcid":"https://orcid.org/0000-0003-3344-0849"},"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":"Zhongming Huang","raw_affiliation_strings":["Cornell University,School of Electrical and Computer Engineering,Ithaca,NY,USA,14853"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,School of Electrical and Computer Engineering,Ithaca,NY,USA,14853","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025098076","display_name":"Hongyu Yao","orcid":"https://orcid.org/0000-0002-6626-2682"},"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":"Hongyu Yao","raw_affiliation_strings":["Cornell University,School of Electrical and Computer Engineering,Ithaca,NY,USA,14853"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,School of Electrical and Computer Engineering,Ithaca,NY,USA,14853","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Haocheng Peng","orcid":null},"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":"Haocheng Peng","raw_affiliation_strings":["Cornell University,School of Electrical and Computer Engineering,Ithaca,NY,USA,14853"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,School of Electrical and Computer Engineering,Ithaca,NY,USA,14853","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shih-Ming Lin","orcid":null},"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":"Shih-Ming Lin","raw_affiliation_strings":["Cornell University,School of Electrical and Computer Engineering,Ithaca,NY,USA,14853"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,School of Electrical and Computer Engineering,Ithaca,NY,USA,14853","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048633771","display_name":"Kirstin Petersen","orcid":"https://orcid.org/0000-0002-7813-5621"},"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":"Kirstin Petersen","raw_affiliation_strings":["Cornell University,School of Electrical and Computer Engineering,Ithaca,NY,USA,14853"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,School of Electrical and Computer Engineering,Ithaca,NY,USA,14853","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056528269","display_name":"Nils Napp","orcid":"https://orcid.org/0000-0002-1694-0393"},"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":"Nils Napp","raw_affiliation_strings":["Cornell University,School of Electrical and Computer Engineering,Ithaca,NY,USA,14853"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,School of Electrical and Computer Engineering,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":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.55739505,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"19929","last_page":"19935"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.8216000199317932,"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":0.8216000199317932,"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/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.13860000669956207,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.011900000274181366,"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/robot","display_name":"Robot","score":0.6998999714851379},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5867000222206116},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.41769999265670776},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.41260001063346863},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3822999894618988},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.350600004196167}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6998999714851379},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5867000222206116},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5464000105857849},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48019999265670776},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.41769999265670776},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.41260001063346863},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39809998869895935},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3912999927997589},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3822999894618988},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.350600004196167},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.34139999747276306},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.31369999051094055},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2989000082015991},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2874999940395355},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.28360000252723694},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.2777000069618225},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.257999986410141},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2565999925136566}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246360","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246360","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":11,"referenced_works":["https://openalex.org/W41263602","https://openalex.org/W1997488333","https://openalex.org/W2005805981","https://openalex.org/W2036613575","https://openalex.org/W2125188427","https://openalex.org/W2200266040","https://openalex.org/W2912052409","https://openalex.org/W2921599593","https://openalex.org/W2963977731","https://openalex.org/W3038935994","https://openalex.org/W4312832051"],"related_works":[],"abstract_inverted_index":{"This":[0,83],"paper":[1],"investigates":[2],"the":[3,29,49,79],"importance":[4],"and":[5,42,56,62,66,91],"design":[6,37],"implications":[7],"for":[8,27],"use":[9],"of":[10,39,53,58],"rectangular":[11],"blocks":[12,45],"in":[13,31],"collective":[14],"robotic":[15,94],"construction":[16],"systems":[17],"with":[18],"distributed":[19],"control.":[20],"Specifically,":[21],"we":[22],"introduce":[23],"an":[24,86],"automated":[25],"solver":[26],"optimizing":[28],"overlaps":[30,74],"user-specified":[32],"structures;":[33,65],"a":[34,69],"new":[35],"robot":[36,54],"capable":[38],"manipulating,":[40],"fastening,":[41],"climbing":[43],"over":[44],"as":[46,48],"wide":[47],"robot;":[50],"detailed":[51],"analysis":[52],"primitives":[55],"demonstration":[57],"rectilinear,":[59],"curved,":[60],"cantilever,":[61],"corbeled":[63],"arch":[64],"results":[67],"from":[68],"physics":[70],"simulator":[71],"showing":[72],"how":[73],"improve":[75],"structural":[76],"integrity":[77],"when":[78],"depositions":[80],"are":[81],"noisy.":[82],"work":[84],"represents":[85],"important":[87],"step":[88],"towards":[89],"efficient":[90],"versatile":[92],"large-scale":[93],"construction.":[95]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-28T00:00:00"}