{"id":"https://openalex.org/W2068507194","doi":"https://doi.org/10.1109/robio.2011.6181397","title":"A general framework integrating exploration, self-assembly and locomotion control for swarm robots","display_name":"A general framework integrating exploration, self-assembly and locomotion control for swarm robots","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2068507194","doi":"https://doi.org/10.1109/robio.2011.6181397","mag":"2068507194"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181397","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 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/A5109096287","display_name":"Hongxing Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hongxing Wei","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, China","School of Mechanical Engineering and Automation, Beihang University, Xueyuan Rd. No.37, HaiDian District, Beijing, 100191, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Xueyuan Rd. No.37, HaiDian District, Beijing, 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070356786","display_name":"Haiyuan Li","orcid":"https://orcid.org/0000-0002-7822-742X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haiyuan Li","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, China","School of Mechanical Engineering and Automation, Beihang University, Xueyuan Rd. No.37, HaiDian District, Beijing, 100191, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Xueyuan Rd. No.37, HaiDian District, Beijing, 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066647318","display_name":"Youdong Chen","orcid":"https://orcid.org/0000-0002-1388-9297"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Youdong Chen","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, China","School of Mechanical Engineering and Automation, Beihang University, Xueyuan Rd. No.37, HaiDian District, Beijing, 100191, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Xueyuan Rd. No.37, HaiDian District, Beijing, 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025711005","display_name":"Jindong Tan","orcid":"https://orcid.org/0000-0003-0339-8811"},"institutions":[{"id":"https://openalex.org/I11957088","display_name":"Michigan Technological University","ror":"https://ror.org/0036rpn28","country_code":"US","type":"education","lineage":["https://openalex.org/I11957088"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jindong Tan","raw_affiliation_strings":["Electrical Engineering Department, Michigan Technological University, Houghton, USA","Electrical Engineering Department, Michigan Technological University, Houghton 49931 USA"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Michigan Technological University, Houghton, USA","institution_ids":["https://openalex.org/I11957088"]},{"raw_affiliation_string":"Electrical Engineering Department, Michigan Technological University, Houghton 49931 USA","institution_ids":["https://openalex.org/I11957088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5109096287"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.17970318,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"295","issue":null,"first_page":"871","last_page":"876"},"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/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/T11486","display_name":"Micro and Nano Robotics","score":0.9957000017166138,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.8794593811035156},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7861316204071045},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.755466103553772},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7015151977539062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6905474662780762},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6495158672332764},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.6005095839500427},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46963807940483093},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4472181499004364},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4336530566215515},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41098713874816895},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.38671302795410156},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3586399555206299},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21118605136871338},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.10927608609199524}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.8794593811035156},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7861316204071045},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.755466103553772},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7015151977539062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6905474662780762},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6495158672332764},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.6005095839500427},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46963807940483093},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4472181499004364},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4336530566215515},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41098713874816895},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.38671302795410156},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3586399555206299},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21118605136871338},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.10927608609199524},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2011.6181397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181397","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"},{"id":"pmh:oai:digitalcommons.mtu.edu:michigantech-p-30207","is_oa":false,"landing_page_url":"https://digitalcommons.mtu.edu/michigantech-p/10905","pdf_url":null,"source":{"id":"https://openalex.org/S4377196391","display_name":"Digital Commons - Michigan Tech (Michigan Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I11957088","host_organization_name":"Michigan Technological University","host_organization_lineage":["https://openalex.org/I11957088"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Michigan Tech Publications, Part 1","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1980489126","https://openalex.org/W2035587331","https://openalex.org/W2041708305","https://openalex.org/W2046162118","https://openalex.org/W2050426505","https://openalex.org/W2069507241","https://openalex.org/W2078582279","https://openalex.org/W2086804948","https://openalex.org/W2122893773","https://openalex.org/W2127826644","https://openalex.org/W2141724420","https://openalex.org/W2151648288","https://openalex.org/W6659739248"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W65954170","https://openalex.org/W1988876749","https://openalex.org/W2518382144","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166","https://openalex.org/W2787547275","https://openalex.org/W1600534566"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,101],"proposed":[4],"a":[5,69],"general":[6],"control":[7],"framework":[8,126],"for":[9,86],"the":[10,30,32,36,51,54,58,63,67,106,116,120,125],"swarm":[11,33,55,107],"robots":[12,34,56,108],"with":[13],"self-assembly":[14,24,59],"in":[15],"real":[16],"environments.":[17,118],"There":[18],"are":[19,127],"three":[20],"tasks:":[21],"exploration":[22],"task,":[23],"task":[25,60],"and":[26,41,89,122],"locomotion":[27],"task.":[28,52],"At":[29],"start,":[31],"explore":[35],"environment":[37],"using":[38],"their":[39],"sensors":[40],"make":[42],"decision":[43],"to":[44,49,61,82,93,113,115],"form":[45,109],"some":[46],"robotic":[47,87,111],"structures":[48,112],"finish":[50],"Then":[53],"execute":[57],"construct":[62],"corresponding":[64],"configuration.":[65,95],"For":[66],"locomotion,":[68],"unified":[70],"CPG":[71],"controller":[72],"model":[73],"as":[74,76],"well":[75],"unity":[77],"configuration":[78],"representation":[79],"is":[80],"combined":[81],"generate":[83],"locomotive":[84],"motions":[85],"structure":[88],"improve":[90],"self-adaptation":[91],"according":[92],"any":[94],"Based":[96],"on":[97],"Sambot":[98],"simulation":[99,103],"platform,":[100],"demonstrate":[102],"experiments":[104],"that":[105],"different":[110,117],"adapt":[114],"Finally,":[119],"effectiveness":[121],"scalability":[123],"of":[124],"discussed.":[128]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
