{"id":"https://openalex.org/W3190462321","doi":"https://doi.org/10.1109/lra.2021.3096748","title":"Towards a Passive Self-Assembling Macroscale Multi-Robot System","display_name":"Towards a Passive Self-Assembling Macroscale Multi-Robot System","publication_year":2021,"publication_date":"2021-07-30","ids":{"openalex":"https://openalex.org/W3190462321","doi":"https://doi.org/10.1109/lra.2021.3096748","mag":"3190462321"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3096748","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3096748","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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/A5045301234","display_name":"Martin J\u00edlek","orcid":"https://orcid.org/0000-0001-6423-5544"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"Martin Jilek","raw_affiliation_strings":["Czech Institute of Informatics, Robotics and Cybernetics, IMR Department, Czech Technical University in Prague, Prague, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0001-6423-5544","affiliations":[{"raw_affiliation_string":"Czech Institute of Informatics, Robotics and Cybernetics, IMR Department, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003055975","display_name":"Michael Somr","orcid":"https://orcid.org/0000-0002-0540-4763"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Michael Somr","raw_affiliation_strings":["Faculty of Civil Engineering, Czech Technical University in Prague, Prague, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0002-0540-4763","affiliations":[{"raw_affiliation_string":"Faculty of Civil Engineering, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084228715","display_name":"Miroslav Kulich","orcid":"https://orcid.org/0000-0002-0997-5889"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Miroslav Kulich","raw_affiliation_strings":["Czech Institute of Informatics, Robotics and Cybernetics, IMR Department, Czech Technical University in Prague, Prague, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0002-0997-5889","affiliations":[{"raw_affiliation_string":"Czech Institute of Informatics, Robotics and Cybernetics, IMR Department, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058255407","display_name":"Jan Zeman","orcid":"https://orcid.org/0000-0003-2503-8120"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Jan Zeman","raw_affiliation_strings":["Faculty of Civil Engineering, Czech Technical University in Prague, Prague, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0003-2503-8120","affiliations":[{"raw_affiliation_string":"Faculty of Civil Engineering, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004686576","display_name":"Libor P\u0159eu\u010dil","orcid":"https://orcid.org/0000-0002-4286-3870"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Libor Preucil","raw_affiliation_strings":["Czech Institute of Informatics, Robotics and Cybernetics, IMR Department, Czech Technical University in Prague, Prague, Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Institute of Informatics, Robotics and Cybernetics, IMR Department, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5045301234"],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":1.3523,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.78237735,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"6","issue":"4","first_page":"7293","last_page":"7300"},"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/T10207","display_name":"Advanced biosensing and bioanalysis techniques","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9872000217437744,"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/tile","display_name":"Tile","score":0.7801440358161926},{"id":"https://openalex.org/keywords/microelectronics","display_name":"Microelectronics","score":0.7606661319732666},{"id":"https://openalex.org/keywords/jamming","display_name":"Jamming","score":0.629062294960022},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6104162931442261},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.595171332359314},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.575276255607605},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.5467572808265686},{"id":"https://openalex.org/keywords/massively-parallel","display_name":"Massively parallel","score":0.5049009919166565},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.4581976532936096},{"id":"https://openalex.org/keywords/merge","display_name":"Merge (version control)","score":0.42292797565460205},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.32580873370170593},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21183383464813232},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.15304991602897644},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.09866103529930115},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0982656478881836}],"concepts":[{"id":"https://openalex.org/C2780728851","wikidata":"https://www.wikidata.org/wiki/Q468402","display_name":"Tile","level":2,"score":0.7801440358161926},{"id":"https://openalex.org/C187937830","wikidata":"https://www.wikidata.org/wiki/Q175403","display_name":"Microelectronics","level":2,"score":0.7606661319732666},{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.629062294960022},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6104162931442261},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.595171332359314},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.575276255607605},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.5467572808265686},{"id":"https://openalex.org/C190475519","wikidata":"https://www.wikidata.org/wiki/Q544384","display_name":"Massively parallel","level":2,"score":0.5049009919166565},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.4581976532936096},{"id":"https://openalex.org/C197129107","wikidata":"https://www.wikidata.org/wiki/Q1921621","display_name":"Merge (version control)","level":2,"score":0.42292797565460205},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.32580873370170593},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21183383464813232},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.15304991602897644},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.09866103529930115},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0982656478881836},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3096748","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3096748","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.4399999976158142,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321006","display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky","ror":"https://ror.org/01pv73b02"},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W42831717","https://openalex.org/W1480178849","https://openalex.org/W1489108251","https://openalex.org/W1501592603","https://openalex.org/W1543325459","https://openalex.org/W1990148375","https://openalex.org/W2001109243","https://openalex.org/W2023747155","https://openalex.org/W2029383696","https://openalex.org/W2062802768","https://openalex.org/W2063465004","https://openalex.org/W2086091825","https://openalex.org/W2104435610","https://openalex.org/W2105448662","https://openalex.org/W2119710738","https://openalex.org/W2121548261","https://openalex.org/W2126961173","https://openalex.org/W2128258668","https://openalex.org/W2139304059","https://openalex.org/W2157231083","https://openalex.org/W2158603823","https://openalex.org/W2161610380","https://openalex.org/W2483381266","https://openalex.org/W2530140903","https://openalex.org/W2565233142","https://openalex.org/W2773368957","https://openalex.org/W2775418063","https://openalex.org/W2794608433","https://openalex.org/W2924487690","https://openalex.org/W3003493653","https://openalex.org/W3043626816","https://openalex.org/W3150475113","https://openalex.org/W4237682454","https://openalex.org/W4285719527","https://openalex.org/W6666144430","https://openalex.org/W6680703345","https://openalex.org/W7005962848"],"related_works":["https://openalex.org/W2114959296","https://openalex.org/W38346124","https://openalex.org/W2502442966","https://openalex.org/W2138666621","https://openalex.org/W2383936314","https://openalex.org/W2777914781","https://openalex.org/W1992771654","https://openalex.org/W4246369972","https://openalex.org/W4244869112","https://openalex.org/W2581250438"],"abstract_inverted_index":{"The":[0,122],"combined":[1],"efforts":[2],"of":[3,14,18,77,105,114,124,133],"theoretical":[4],"computer":[5],"science,":[6],"biochemistry,":[7],"and":[8,31,44,111,146],"nanotechnology":[9],"have":[10],"enabled":[11],"the":[12,41,54,56,119,130],"design":[13],"tile-based":[15],"systems":[16,60],"capable":[17,76],"self-assembling":[19],"intricate":[20],"patterns":[21],"in":[22,143,149],"a":[23,68,102,134,155],"massively":[24],"parallel":[25],"manner,":[26],"with":[27],"low":[28],"error":[29,144],"rates,":[30],"applications":[32],"ranging":[33],"from":[34,51],"DNA":[35],"computing":[36],"to":[37,53,58,98,107,154],"microelectronics.":[38],"However,":[39],"as":[40],"underlying":[42],"physical":[43],"chemical":[45],"principles":[46],"do":[47],"not":[48],"directly":[49],"translate":[50],"micro":[52],"macroscale,":[55],"transition":[57],"centimeter-scale":[59],"remains":[61],"challenging.":[62],"In":[63],"this":[64,87],"contribution,":[65],"we":[66],"propose":[67],"framework":[69,126],"for":[70],"designing":[71],"macroscale":[72],"passive":[73],"robots":[74],"(tiles)":[75],"targeted":[78],"self-assembly":[79],"under":[80],"uncontrolled":[81],"external":[82],"mechanical":[83],"excitation.":[84],"Self-assembly":[85],"at":[86],"scale":[88],"is":[89,127],"achieved":[90],"by":[91,129],"using":[92],"properly":[93],"designed":[94],"magneto-mechanical":[95],"locks":[96],"(glues)":[97],"accomplish":[99],"jamming-free":[100],"assembly,":[101],"dedicated":[103],"encoding":[104],"glues":[106],"guide":[108],"tile":[109],"interactions,":[110],"consistent":[112],"formalization":[113],"geometrical":[115],"constraints":[116],"that":[117],"ensure":[118],"valid":[120],"assembly.":[121],"potential":[123],"our":[125],"demonstrated":[128],"errorless":[131],"assembly":[132],"chessboard":[135],"pattern,":[136],"thereby":[137],"showing":[138],"its":[139],"robustness,":[140],"three-fold":[141],"increase":[142,148],"recovery,":[145],"two-fold":[147],"growth":[150],"rate,":[151],"when":[152],"compared":[153],"fully":[156],"magnetic":[157],"approach.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}