{"id":"https://openalex.org/W2053610850","doi":"https://doi.org/10.1109/robio.2011.6181602","title":"A distance and diversity measure for improving the evolutionary process of modular robot organisms","display_name":"A distance and diversity measure for improving the evolutionary process of modular robot organisms","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2053610850","doi":"https://doi.org/10.1109/robio.2011.6181602","mag":"2053610850"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181602","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181602","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/A5065605983","display_name":"Lutz Winkler","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Lutz Winkler","raw_affiliation_strings":["Institute for Process Control and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany","Institute for Process Control and Robotics, Karlsruhe Institute of Technology - KIT, 76131 Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Process Control and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute for Process Control and Robotics, Karlsruhe Institute of Technology - KIT, 76131 Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091849797","display_name":"Heinz W\u00f6rn","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Heinz Worn","raw_affiliation_strings":["Institute for Process Control and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany","Institute for Process Control and Robotics, Karlsruhe Institute of Technology - KIT, 76131 Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Process Control and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute for Process Control and Robotics, Karlsruhe Institute of Technology - KIT, 76131 Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009783106","display_name":"Adrian Friebel","orcid":"https://orcid.org/0000-0002-9157-4418"},"institutions":[{"id":"https://openalex.org/I926574661","display_name":"Leipzig University","ror":"https://ror.org/03s7gtk40","country_code":"DE","type":"education","lineage":["https://openalex.org/I926574661"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Adrian Friebel","raw_affiliation_strings":["Research Group for Multicellular Systems Biology, Interdisciplinary Centre for Bioinformatics (IZBI), University of Leipzig, Leipzig, Germany","Research Group for Multicellular Systems, Biology Interdisciplinary Centre for Bioinformatics (IZBI), University of Leipzig, 04107 Leipzig, Germany"],"affiliations":[{"raw_affiliation_string":"Research Group for Multicellular Systems Biology, Interdisciplinary Centre for Bioinformatics (IZBI), University of Leipzig, Leipzig, Germany","institution_ids":["https://openalex.org/I926574661"]},{"raw_affiliation_string":"Research Group for Multicellular Systems, Biology Interdisciplinary Centre for Bioinformatics (IZBI), University of Leipzig, 04107 Leipzig, Germany","institution_ids":["https://openalex.org/I926574661"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5065605983"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":2.0189,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.86799886,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"5928","issue":null,"first_page":"2102","last_page":"2107"},"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":0.9848999977111816,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9815999865531921,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.634929358959198},{"id":"https://openalex.org/keywords/coevolution","display_name":"Coevolution","score":0.6282392740249634},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6269322037696838},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6181411147117615},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.611696183681488},{"id":"https://openalex.org/keywords/population","display_name":"Population","score":0.6024896502494812},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.6007475256919861},{"id":"https://openalex.org/keywords/evolutionary-robotics","display_name":"Evolutionary robotics","score":0.595344603061676},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5913377404212952},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.5840054154396057},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.5433950424194336},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.5198424458503723},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4566269814968109},{"id":"https://openalex.org/keywords/diversity","display_name":"Diversity (politics)","score":0.4550720751285553},{"id":"https://openalex.org/keywords/evolutionary-computation","display_name":"Evolutionary computation","score":0.43303248286247253},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3249152898788452},{"id":"https://openalex.org/keywords/evolutionary-biology","display_name":"Evolutionary biology","score":0.24818578362464905},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.239601731300354},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.23208418488502502},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.18181100487709045},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17490419745445251},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.17076334357261658}],"concepts":[{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.634929358959198},{"id":"https://openalex.org/C33009525","wikidata":"https://www.wikidata.org/wiki/Q208841","display_name":"Coevolution","level":2,"score":0.6282392740249634},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6269322037696838},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6181411147117615},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.611696183681488},{"id":"https://openalex.org/C2908647359","wikidata":"https://www.wikidata.org/wiki/Q2625603","display_name":"Population","level":2,"score":0.6024896502494812},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.6007475256919861},{"id":"https://openalex.org/C199505168","wikidata":"https://www.wikidata.org/wiki/Q3267529","display_name":"Evolutionary robotics","level":3,"score":0.595344603061676},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5913377404212952},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.5840054154396057},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.5433950424194336},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.5198424458503723},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4566269814968109},{"id":"https://openalex.org/C2781316041","wikidata":"https://www.wikidata.org/wiki/Q1230584","display_name":"Diversity (politics)","level":2,"score":0.4550720751285553},{"id":"https://openalex.org/C105902424","wikidata":"https://www.wikidata.org/wiki/Q1197129","display_name":"Evolutionary computation","level":2,"score":0.43303248286247253},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3249152898788452},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.24818578362464905},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.239601731300354},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.23208418488502502},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.18181100487709045},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17490419745445251},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.17076334357261658},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C19165224","wikidata":"https://www.wikidata.org/wiki/Q23404","display_name":"Anthropology","level":1,"score":0.0},{"id":"https://openalex.org/C149923435","wikidata":"https://www.wikidata.org/wiki/Q37732","display_name":"Demography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181602","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181602","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1506874128","https://openalex.org/W1548165715","https://openalex.org/W1609223620","https://openalex.org/W1983449914","https://openalex.org/W2007079513","https://openalex.org/W2117085697","https://openalex.org/W2119821952","https://openalex.org/W2130086956","https://openalex.org/W2131237377","https://openalex.org/W2149602461","https://openalex.org/W2149841830"],"related_works":["https://openalex.org/W2594447999","https://openalex.org/W1954640725","https://openalex.org/W4297582752","https://openalex.org/W4285805405","https://openalex.org/W2884997579","https://openalex.org/W2391924736","https://openalex.org/W3133779647","https://openalex.org/W1560122427","https://openalex.org/W1549585850","https://openalex.org/W3041827036"],"abstract_inverted_index":{"In":[0,118,161],"this":[1,17,137],"paper,":[2],"we":[3,19,131,166],"present":[4],"a":[5,10,22,42,45,73,114,172,194],"novel":[6,85],"diversity":[7,18,40,55,138],"measure":[8,46,86],"for":[9,47],"population":[11,43],"of":[12,24,27,30,38,101,107,111,136,142,151,178],"modular":[13,129],"robot":[14,102],"organisms.":[15,83],"Evaluating":[16],"will":[20,132,147,167],"get":[21,80],"prospect":[23],"the":[25,39,48,51,54,92,99,105,123,127,134,143,149,162,169,176],"fitness":[26,156],"future":[28],"generations":[29],"organisms":[31,112],"in":[32,41,77,184],"an":[33,182,185],"evolutionary":[34,64,75,93],"process.":[35,117],"The":[36,84,140],"degree":[37],"is":[44,56,60,96,113,187],"adaptability":[49],"to":[50,62,71,79,88],"environment.":[52],"If":[53],"too":[57],"low,":[58],"it":[59],"necessary":[61],"change":[63],"parameters":[65],"such":[66],"as":[67,98],"mutation":[68],"probabilities":[69],"or":[70],"start":[72],"new":[74],"run":[76],"order":[78],"better":[81],"adapted":[82],"helps":[87],"improve":[89],"and":[90,109,126,158,193],"speed-up":[91],"process,":[94],"which":[95,180],"mandatory":[97],"evolution":[100],"organisms,":[103],"specially":[104],"coevolution":[106],"controller":[108],"topology":[110],"very":[115],"tedious":[116],"four":[119],"different":[120,153],"experiments":[121,146,165],"using":[122],"Robot3D":[124],"simulator":[125],"Symbricator":[128],"robots,":[130],"show":[133],"usefulness":[135],"measure.":[139],"goal":[141],"first":[144],"two":[145,152,164],"be":[148],"evaluation":[150],"selection":[154],"strategies:":[155],"proportionate":[157],"rank":[159],"selection.":[160],"last":[163],"explore":[168],"differences":[170],"between":[171],"restrained":[173],"evolution,":[174],"where":[175],"type":[177],"agent,":[179],"controls":[181],"element":[183],"organism":[186],"predetermined":[188],"by":[189],"its":[190],"parent":[191],"element,":[192],"free":[195],"evolution.":[196]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}