{"id":"https://openalex.org/W4386702879","doi":"https://doi.org/10.1109/lra.2023.3315208","title":"Linear-Time Reconfiguration of Sliding-Only Cubic Modular Robots Under Severe Space Requirements","display_name":"Linear-Time Reconfiguration of Sliding-Only Cubic Modular Robots Under Severe Space Requirements","publication_year":2023,"publication_date":"2023-09-13","ids":{"openalex":"https://openalex.org/W4386702879","doi":"https://doi.org/10.1109/lra.2023.3315208"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3315208","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3315208","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/A5002657897","display_name":"Hiroshi Kawano","orcid":"https://orcid.org/0000-0001-6431-2562"},"institutions":[{"id":"https://openalex.org/I2251713219","display_name":"NTT (Japan)","ror":"https://ror.org/00berct97","country_code":"JP","type":"company","lineage":["https://openalex.org/I2251713219"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hiroshi Kawano","raw_affiliation_strings":["NTT Corporation, NTT Communication Science Laboratories, Kanagawa, Japan"],"affiliations":[{"raw_affiliation_string":"NTT Corporation, NTT Communication Science Laboratories, Kanagawa, Japan","institution_ids":["https://openalex.org/I2251713219"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5002657897"],"corresponding_institution_ids":["https://openalex.org/I2251713219"],"apc_list":null,"apc_paid":null,"fwci":0.1332,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.41532969,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"8","issue":"12","first_page":"8176","last_page":"8183"},"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":0.9901999831199646,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9851999878883362,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.6612256765365601},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.6305400729179382},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5751827955245972},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.451540470123291},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4161113202571869},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4130405783653259},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.392183393239975},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.3595336675643921},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3240407109260559},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.3224245309829712},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.3210603594779968},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.16611626744270325},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.1626439094543457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16073119640350342},{"id":"https://openalex.org/keywords/arithmetic","display_name":"Arithmetic","score":0.15274286270141602}],"concepts":[{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.6612256765365601},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.6305400729179382},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5751827955245972},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.451540470123291},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4161113202571869},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4130405783653259},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.392183393239975},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.3595336675643921},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3240407109260559},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.3224245309829712},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.3210603594779968},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.16611626744270325},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.1626439094543457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16073119640350342},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.15274286270141602}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3315208","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3315208","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W167755092","https://openalex.org/W1489108251","https://openalex.org/W1547984505","https://openalex.org/W1974002307","https://openalex.org/W1975093075","https://openalex.org/W1978248694","https://openalex.org/W2097009171","https://openalex.org/W2099361645","https://openalex.org/W2105916284","https://openalex.org/W2117416080","https://openalex.org/W2125231478","https://openalex.org/W2126295536","https://openalex.org/W2137767427","https://openalex.org/W2303265364","https://openalex.org/W2417696033","https://openalex.org/W2738971915","https://openalex.org/W2739265868","https://openalex.org/W2786120057","https://openalex.org/W2807443225","https://openalex.org/W2911535320","https://openalex.org/W2945322705","https://openalex.org/W2969019154","https://openalex.org/W2988432911","https://openalex.org/W3089418664","https://openalex.org/W4238026678","https://openalex.org/W4312408971","https://openalex.org/W4387699080","https://openalex.org/W6758185858","https://openalex.org/W6762892231","https://openalex.org/W6801747449"],"related_works":["https://openalex.org/W2357657342","https://openalex.org/W2153432761","https://openalex.org/W1580144672","https://openalex.org/W2152623100","https://openalex.org/W2142042635","https://openalex.org/W4248634784","https://openalex.org/W2103296973","https://openalex.org/W1988127757","https://openalex.org/W2165832238","https://openalex.org/W4250547108"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,58,98,130,179,203],"fast":[4],"reconfiguration":[5],"algorithm":[6,44,69,176],"for":[7,72,117],"cubic":[8,19,35,200],"modular":[9],"robots":[10],"moving":[11,158],"in":[12,57],"narrow":[13],"spaces.":[14],"We":[15,163],"assume":[16],"that":[17,60,136,174,205],"the":[18,64,79,95,127,141,144,150,153,160,165,168,175,209],"module":[20],"can":[21,45,177],"only":[22,89],"slide":[23],"across":[24],"other":[25],"modules\u2019":[26],"surfaces,":[27],"which":[28],"saves":[29],"space":[30,142],"compared":[31],"with":[32,40,74,88,198,208],"previously":[33],"studied":[34],"modules,":[36],"such":[37],"as":[38,84,86],"those":[39],"rotating":[41],"primitives.":[42],"The":[43,68],"take":[46],"arbitrary":[47],"start":[48,80,145],"and":[49,52,55,81,119,146,170],"goal":[50,82,147],"configurations":[51,83],"arrangements":[53],"thereof":[54],"operates":[56],"time":[59,204],"is":[61,70,134],"linear":[62],"to":[63],"number":[65,210],"of":[66,97,123,143,167,211],"modules.":[67,212],"designed":[71],"cases":[73,87],"multiple":[75],"overlapping":[76,91],"regions":[77],"between":[78],"well":[85],"one":[90],"region.":[92],"It":[93,121],"assumes":[94],"use":[96],"2":[99,106,113,180,187,194],"<inline-formula":[100,107,181,188],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[101,108,182,189],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[102,109,183,190],"notation=\"LaTeX\">$":[103,110,184,191],"\\times":[104,111,185,192],"$</tex-math></inline-formula>":[105,112,186,193],"meta-module":[114,195],"robot":[115,196],"structure":[116,133,197],"connectivity":[118],"mobility.":[120],"consists":[122],"two":[124],"stages.":[125],"In":[126,149],"first":[128],"stage,":[129,152],"compact":[131],"scaffolding":[132,161],"formed":[135],"does":[137],"not":[138],"extend":[139],"outside":[140],"configurations.":[148],"second":[151],"modules":[154,201],"reconfigure":[155,178],"themselves":[156],"by":[157],"along":[159],"structure.":[162],"proved":[164],"completeness":[166],"algorithm,":[169],"performed":[171],"simulations":[172],"showing":[173],"sliding-only":[199],"within":[202],"grows":[206],"linearly":[207]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
