{"id":"https://openalex.org/W2303301793","doi":"https://doi.org/10.1109/lra.2016.2524987","title":"Pheeno, A Versatile Swarm Robotic Research and Education Platform","display_name":"Pheeno, A Versatile Swarm Robotic Research and Education Platform","publication_year":2016,"publication_date":"2016-02-03","ids":{"openalex":"https://openalex.org/W2303301793","doi":"https://doi.org/10.1109/lra.2016.2524987","mag":"2303301793"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2016.2524987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2524987","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5032236205","display_name":"Sean Wilson","orcid":"https://orcid.org/0000-0002-6282-4772"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sean Wilson","raw_affiliation_strings":["School for Engineering of Matter, Transport and Energy, Arizona State University (ASU), Tempe, AZ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School for Engineering of Matter, Transport and Energy, Arizona State University (ASU), Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036225916","display_name":"Ruben Gameros","orcid":null},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ruben Gameros","raw_affiliation_strings":["School for Engineering of Matter, Transport and Energy, Arizona State University (ASU), Tempe, AZ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School for Engineering of Matter, Transport and Energy, Arizona State University (ASU), Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083435087","display_name":"Michael Sheely","orcid":null},"institutions":[{"id":"https://openalex.org/I133543626","display_name":"Harvey Mudd College","ror":"https://ror.org/025ecfn45","country_code":"US","type":"education","lineage":["https://openalex.org/I133543626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Sheely","raw_affiliation_strings":["Department of Mathematics, Harvey Mudd College, Claremont, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematics, Harvey Mudd College, Claremont, CA, USA","institution_ids":["https://openalex.org/I133543626"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108558895","display_name":"Matthew Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I133543626","display_name":"Harvey Mudd College","ror":"https://ror.org/025ecfn45","country_code":"US","type":"education","lineage":["https://openalex.org/I133543626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Lin","raw_affiliation_strings":["Department of Mathematics, Harvey Mudd College, Claremont, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematics, Harvey Mudd College, Claremont, CA, USA","institution_ids":["https://openalex.org/I133543626"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089583379","display_name":"Kathryn Dover","orcid":null},"institutions":[{"id":"https://openalex.org/I133543626","display_name":"Harvey Mudd College","ror":"https://ror.org/025ecfn45","country_code":"US","type":"education","lineage":["https://openalex.org/I133543626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kathryn Dover","raw_affiliation_strings":["Department of Mathematics, Harvey Mudd College, Claremont, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematics, Harvey Mudd College, Claremont, CA, USA","institution_ids":["https://openalex.org/I133543626"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083234445","display_name":"Robert Gevorkyan","orcid":null},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert Gevorkyan","raw_affiliation_strings":["Department of Applied Mathematics, University of California Los Angeles, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Mathematics, University of California Los Angeles, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047018985","display_name":"Matt Haberland","orcid":"https://orcid.org/0000-0003-4806-3601"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matt Haberland","raw_affiliation_strings":["Department of Applied Mathematics, University of California Los Angeles, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Mathematics, University of California Los Angeles, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090707978","display_name":"Andrea L. Bertozzi","orcid":"https://orcid.org/0000-0003-0396-7391"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrea Bertozzi","raw_affiliation_strings":["Department of Applied Mathematics, University of California Los Angeles, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Mathematics, University of California Los Angeles, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076142872","display_name":"Spring Berman","orcid":"https://orcid.org/0000-0001-9239-0509"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Spring Berman","raw_affiliation_strings":["School for Engineering of Matter, Transport and Energy, Arizona State University (ASU), Tempe, AZ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School for Engineering of Matter, Transport and Energy, Arizona State University (ASU), Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.4805,"has_fulltext":false,"cited_by_count":73,"citation_normalized_percentile":{"value":0.95840822,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"1","issue":"2","first_page":"884","last_page":"891"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991000294685364,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/payload","display_name":"Payload (computing)","score":0.7188862562179565},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.704104483127594},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5845919847488403},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5701504349708557},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.5391287207603455},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.500720739364624},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47725817561149597},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46051302552223206},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4360504448413849},{"id":"https://openalex.org/keywords/arduino","display_name":"Arduino","score":0.4225574731826782},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.39019647240638733},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3736153244972229},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32519274950027466},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25562286376953125}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7188862562179565},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.704104483127594},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5845919847488403},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5701504349708557},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.5391287207603455},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.500720739364624},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47725817561149597},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46051302552223206},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4360504448413849},{"id":"https://openalex.org/C136501162","wikidata":"https://www.wikidata.org/wiki/Q175957","display_name":"Arduino","level":2,"score":0.4225574731826782},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.39019647240638733},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3736153244972229},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32519274950027466},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25562286376953125},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2016.2524987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2524987","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:escholarship.org/ark:/13030/qt1824b1r7","is_oa":false,"landing_page_url":"https://escholarship.org/uc/item/1824b1r7","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, vol 1, iss 2","raw_type":"article"},{"id":"pmh:qt1824b1r7","is_oa":false,"landing_page_url":"http://www.escholarship.org/uc/item/1824b1r7","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wilson, S; Gameros, R; Sheely, M; Lin, M; Dover, K; Gevorkyan, R; \u00c2\u00a0et al.(2016). Pheeno, A Versatile Swarm Robotic Research and Education Platform. IEEE Robotics and Automation Letters, 1(2), 884 - 891. doi: 10.1109/LRA.2016.2524987. UCLA: Retrieved from: http://www.escholarship.org/uc/item/1824b1r7","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3752974447","display_name":null,"funder_award_id":"CMMI-1436960","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G510607594","display_name":null,"funder_award_id":"CMMI-1435709","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8488940573","display_name":null,"funder_award_id":"DMS-1045536","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W131596770","https://openalex.org/W136201649","https://openalex.org/W288445655","https://openalex.org/W1518154293","https://openalex.org/W1560903273","https://openalex.org/W1586330263","https://openalex.org/W1982636603","https://openalex.org/W1983289841","https://openalex.org/W1994269058","https://openalex.org/W1996542214","https://openalex.org/W2022960353","https://openalex.org/W2028319081","https://openalex.org/W2030775133","https://openalex.org/W2050484682","https://openalex.org/W2069135858","https://openalex.org/W2086078643","https://openalex.org/W2095373992","https://openalex.org/W2240585996","https://openalex.org/W2303301793","https://openalex.org/W3210232381","https://openalex.org/W6689856497","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W2724195622","https://openalex.org/W4205669743","https://openalex.org/W4200210047","https://openalex.org/W1969991288","https://openalex.org/W2551663027","https://openalex.org/W2614963770","https://openalex.org/W287737911","https://openalex.org/W1511332864","https://openalex.org/W1665215014","https://openalex.org/W2170068838"],"abstract_inverted_index":{"Swarms":[0],"of":[1,32,124,142,178],"low-cost":[2,67],"autonomous":[3],"robots":[4,21,68],"can":[5,44,72,104,183],"potentially":[6],"be":[7,45],"used":[8,46],"to":[9,49,58,116,152],"collectively":[10],"perform":[11],"tasks":[12],"over":[13],"very":[14],"large":[15],"domains":[16],"and":[17,40,55,71,78,94,100,128,145,163,180,191],"time":[18],"scales.":[19],"Novel":[20],"for":[22,96,107,139,159,167],"swarm":[23],"applications":[24,109],"are":[25,69],"currently":[26],"being":[27],"developed":[28],"as":[29],"a":[30,84,129,140,188,194,197],"result":[31],"recent":[33],"advances":[34],"in":[35,62,170,196],"sensing,":[36,75],"actuation,":[37],"processing,":[38],"power,":[39],"manufacturing.":[41],"These":[42],"platforms":[43],"by":[47,56,110],"researchers":[48],"conduct":[50],"experiments":[51],"with":[52],"robot":[53,87,141],"collectives":[54],"educators":[57],"include":[59],"robotic":[60],"hardware":[61],"their":[63,108],"curricula.":[64],"However,":[65],"existing":[66],"specialized":[70],"lack":[73],"desired":[74,198],"navigation,":[76],"control,":[77],"manipulation":[79,137],"capabilities.":[80],"This":[81],"letter":[82],"presents":[83],"new":[85],"mobile":[86],"platform,":[88],"Pheeno,":[89],"that":[90,114,176],"is":[91],"affordable,":[92],"versatile,":[93],"suitable":[95],"multirobot":[97],"research,":[98],"education,":[99],"outreach":[101],"activities.":[102],"Users":[103],"modify":[105],"Pheeno":[106,126],"designing":[111],"custom":[112],"modules":[113],"attach":[115],"its":[117,156,165],"core":[118,127],"module.":[119],"We":[120,147,173],"describe":[121],"the":[122,125],"design":[123],"three":[130,181],"degree-of-freedom":[131],"gripper":[132],"module,":[133],"which":[134],"enables":[135],"unprecedented":[136],"capabilities":[138],"Pheeno's":[143,150],"size":[144],"cost.":[146],"experimentally":[148],"demonstrate":[149],"ability":[151],"fuse":[153],"measurements":[154],"from":[155,187],"onboard":[157],"odometry":[158],"global":[160],"position":[161],"estimation":[162],"use":[164],"camera":[166],"object":[168],"identification":[169],"real":[171],"time.":[172],"also":[174],"show":[175],"groups":[177],"two":[179],"Pheenos":[182],"act":[184],"on":[185],"commands":[186],"central":[189],"controller":[190],"consistently":[192],"transport":[193],"payload":[195],"direction.":[199]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":4}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
