{"id":"https://openalex.org/W2131442379","doi":"https://doi.org/10.1109/robio.2009.4913103","title":"Yuragi-based adaptive searching behavior in mobile robot: From bacterial chemotaxis to Levy walk","display_name":"Yuragi-based adaptive searching behavior in mobile robot: From bacterial chemotaxis to Levy walk","publication_year":2009,"publication_date":"2009-02-01","ids":{"openalex":"https://openalex.org/W2131442379","doi":"https://doi.org/10.1109/robio.2009.4913103","mag":"2131442379"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.4913103","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913103","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-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/A5041564618","display_name":"Surya G. Nurzaman","orcid":"https://orcid.org/0000-0002-8157-6495"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"S.G. Nurzaman","raw_affiliation_strings":["Graduate School of Engineering, Osaka University, Suita, Osaka, Japan","Graduate School of Engineering, Osaka University, 2-1 Yamada-oka, Suita, 565-0871, Japan#TAB#"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Osaka University, Suita, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Graduate School of Engineering, Osaka University, 2-1 Yamada-oka, Suita, 565-0871, Japan#TAB#","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090303018","display_name":"Yoshio Matsumoto","orcid":"https://orcid.org/0000-0001-7325-9580"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Matsumoto","raw_affiliation_strings":["Graduate School of Engineering, Osaka University, Suita, Osaka, Japan","Graduate School of Engineering, Osaka University, 2-1 Yamada-oka, Suita, 565-0871, Japan#TAB#"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Osaka University, Suita, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Graduate School of Engineering, Osaka University, 2-1 Yamada-oka, Suita, 565-0871, Japan#TAB#","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011580159","display_name":"Yutaka Nakamura","orcid":"https://orcid.org/0000-0001-6307-5104"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Nakamura","raw_affiliation_strings":["Graduate School of Engineering, Osaka University, Suita, Osaka, Japan","Graduate School of Engineering, Osaka University, 2-1 Yamada-oka, Suita, 565-0871, Japan#TAB#"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Osaka University, Suita, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Graduate School of Engineering, Osaka University, 2-1 Yamada-oka, Suita, 565-0871, Japan#TAB#","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033388270","display_name":"Satoshi Koizumi","orcid":"https://orcid.org/0000-0003-4961-5658"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Koizumi","raw_affiliation_strings":["Graduate School of Engineering, Osaka University, Suita, Osaka, Japan","Graduate School of Engineering, Osaka University, 2-1 Yamada-oka, Suita, 565-0871, Japan#TAB#"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Osaka University, Suita, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Graduate School of Engineering, Osaka University, 2-1 Yamada-oka, Suita, 565-0871, Japan#TAB#","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101425832","display_name":"Hiroshi Ishiguro","orcid":"https://orcid.org/0000-0002-0805-7648"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Ishiguro","raw_affiliation_strings":["Graduate School of Engineering, Osaka University, Suita, Osaka, Japan","Graduate School of Engineering, Osaka University, 2-1 Yamada-oka, Suita, 565-0871, Japan#TAB#"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Osaka University, Suita, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Graduate School of Engineering, Osaka University, 2-1 Yamada-oka, Suita, 565-0871, Japan#TAB#","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5041564618"],"corresponding_institution_ids":["https://openalex.org/I98285908"],"apc_list":null,"apc_paid":null,"fwci":0.9186,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.74086627,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"806","last_page":"811"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13187","display_name":"Diffusion and Search Dynamics","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"}},"topics":[{"id":"https://openalex.org/T13187","display_name":"Diffusion and Search Dynamics","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/T12391","display_name":"Artificial Immune Systems Applications","score":0.957099974155426,"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"}},{"id":"https://openalex.org/T13052","display_name":"Molecular Communication and Nanonetworks","score":0.9394000172615051,"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/novelty","display_name":"Novelty","score":0.815066933631897},{"id":"https://openalex.org/keywords/random-walk","display_name":"Random walk","score":0.7543318867683411},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6997275352478027},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6816419363021851},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6079275608062744},{"id":"https://openalex.org/keywords/l\u00e9vy-flight","display_name":"L\u00e9vy flight","score":0.6076958775520325},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5279796719551086},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5234044194221497},{"id":"https://openalex.org/keywords/fractal","display_name":"Fractal","score":0.41533857583999634},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4050961434841156},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.35146844387054443},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1776227056980133}],"concepts":[{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.815066933631897},{"id":"https://openalex.org/C121194460","wikidata":"https://www.wikidata.org/wiki/Q856741","display_name":"Random walk","level":2,"score":0.7543318867683411},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6997275352478027},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6816419363021851},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6079275608062744},{"id":"https://openalex.org/C118918019","wikidata":"https://www.wikidata.org/wiki/Q4114998","display_name":"L\u00e9vy flight","level":3,"score":0.6076958775520325},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5279796719551086},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5234044194221497},{"id":"https://openalex.org/C40636538","wikidata":"https://www.wikidata.org/wiki/Q81392","display_name":"Fractal","level":2,"score":0.41533857583999634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4050961434841156},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.35146844387054443},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1776227056980133},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C27206212","wikidata":"https://www.wikidata.org/wiki/Q34178","display_name":"Theology","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.4913103","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913103","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1493791142","https://openalex.org/W1816275442","https://openalex.org/W2008260787","https://openalex.org/W2012421030","https://openalex.org/W2045345437","https://openalex.org/W2056284729","https://openalex.org/W2073573937","https://openalex.org/W2096112901","https://openalex.org/W2103213286","https://openalex.org/W2134061862","https://openalex.org/W2137348639","https://openalex.org/W2137683954","https://openalex.org/W2141429008","https://openalex.org/W2158987312","https://openalex.org/W2161047963","https://openalex.org/W3022347268","https://openalex.org/W3178671694","https://openalex.org/W4244066891","https://openalex.org/W6797979546"],"related_works":["https://openalex.org/W2887681950","https://openalex.org/W1988561118","https://openalex.org/W4248389398","https://openalex.org/W2122871747","https://openalex.org/W2048207644","https://openalex.org/W2786054093","https://openalex.org/W4238075012","https://openalex.org/W190347597","https://openalex.org/W2526103903","https://openalex.org/W4213146992"],"abstract_inverted_index":{"Biologically":[0],"inspired":[1],"techniques":[2],"have":[3],"been":[4],"widely":[5],"investigated":[6],"for":[7,29,45,145],"realizing":[8],"adaptive":[9],"searching":[10,44,89,114,125],"behaviour":[11,126],"in":[12,77,128],"a":[13,21,26,37,101],"mobile":[14],"robot.":[15],"In":[16],"this":[17,98],"paper,":[18],"we":[19,81,163],"propose":[20],"framework":[22,33,85],"based":[23],"on":[24],"ldquoYuragirdquo,":[25],"Japanese":[27],"word":[28],"biological":[30],"fluctuation.":[31],"Yuragi-based":[32,102],"is":[34],"simple,":[35],"has":[36],"noise-utilizing":[38],"novelty":[39],"to":[40,55,75,108],"keep":[41],"the":[42,46,53,67,70,78,84,106,119,154],"robot":[43,54,107],"goal,":[47],"while":[48],"its":[49],"basic":[50],"expression":[51],"enables":[52,105],"switch":[56],"elegantly":[57],"between":[58],"stochastic":[59],"and":[60,72,92,131,147,162],"deterministic":[61],"behaviour.":[62],"It":[63],"also":[64,165],"doesn't":[65],"need":[66],"model":[68],"of":[69],"environment":[71],"therefore":[73,159],"robust":[74],"changes":[76],"environment.":[79],"Here,":[80],"argue":[82],"that":[83,104,141,167],"can":[86,158,169],"realize":[87],"effective":[88,113,122],"behaviour,":[90],"with":[91,137],"without":[93],"sensory":[94],"information.":[95],"We":[96],"do":[97],"by":[99],"constructing":[100],"equation":[103],"perform":[109],"two":[110],"already":[111],"known":[112],"behaviours:":[115],"bacterial":[116],"chemotaxis,":[117],"probably":[118],"simplest":[120],"yet":[121],"gradient":[123],"sources":[124],"found":[127],"living":[129],"creature,":[130],"Levy":[132],"walk,":[133],"specialized":[134],"random":[135,143],"walks":[136],"fractal":[138],"movement":[139],"trajectories":[140],"optimize":[142],"search":[144],"sparsely":[146],"randomly":[148],"distributed":[149],"target(s).":[150],"As":[151],"realized":[152],"using":[153],"same":[155],"framework,":[156],"they":[157],"be":[160,170],"combined,":[161],"will":[164],"show":[166],"it":[168],"beneficial.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2016,"cited_by_count":8},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}