{"id":"https://openalex.org/W1963947758","doi":"https://doi.org/10.1109/robot.2004.1307390","title":"Topological representation and analysis method for multi-port and multi-orientation docking modular robots","display_name":"Topological representation and analysis method for multi-port and multi-orientation docking modular robots","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W1963947758","doi":"https://doi.org/10.1109/robot.2004.1307390","mag":"1963947758"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1307390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307390","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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/A5077956320","display_name":"Albert Ko","orcid":"https://orcid.org/0009-0007-8773-2632"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"A. Ko","raw_affiliation_strings":["Intelligent System Laboratory, University of Hong Kong, Hong Kong, China","Intelligent Syst. Lab., Hong Kong Univ., China"],"affiliations":[{"raw_affiliation_string":"Intelligent System Laboratory, University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"Intelligent Syst. Lab., Hong Kong Univ., China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113692782","display_name":"T. L. Lau","orcid":null},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"T.L. Lau","raw_affiliation_strings":["Intelligent System Laboratory, University of Hong Kong, Hong Kong, China","Intelligent Syst. Lab., Hong Kong Univ., China"],"affiliations":[{"raw_affiliation_string":"Intelligent System Laboratory, University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"Intelligent Syst. Lab., Hong Kong Univ., China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110296017","display_name":"Henry Y.K. Lau","orcid":null},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"H.Y.K. Lau","raw_affiliation_strings":["Intelligent System Laboratory, University of Hong Kong, Hong Kong, China","Intelligent Syst. Lab., Hong Kong Univ., China"],"affiliations":[{"raw_affiliation_string":"Intelligent System Laboratory, University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"Intelligent Syst. Lab., Hong Kong Univ., China","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5077956320"],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":3.44247555,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.90807175,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2210","last_page":"2215 Vol.3"},"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/T12288","display_name":"Optimization and Search Problems","score":0.9767000079154968,"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":0.9437999725341797,"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/modular-design","display_name":"Modular design","score":0.7162753939628601},{"id":"https://openalex.org/keywords/docking","display_name":"Docking (animal)","score":0.6599292755126953},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6409286856651306},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6159579157829285},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.5612655282020569},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.4580089747905731},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.439136803150177},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4265499711036682},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.38179025053977966},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2998390793800354},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.29678183794021606},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.24497705698013306},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.15209051966667175},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14939752221107483},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09855499863624573}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7162753939628601},{"id":"https://openalex.org/C41685203","wikidata":"https://www.wikidata.org/wiki/Q1974042","display_name":"Docking (animal)","level":2,"score":0.6599292755126953},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6409286856651306},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6159579157829285},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.5612655282020569},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.4580089747905731},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.439136803150177},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4265499711036682},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.38179025053977966},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2998390793800354},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29678183794021606},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.24497705698013306},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.15209051966667175},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14939752221107483},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09855499863624573},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C159110408","wikidata":"https://www.wikidata.org/wiki/Q121176","display_name":"Nursing","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2004.1307390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307390","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"},{"id":"pmh:oai:hub.hku.hk:10722/46593","is_oa":false,"landing_page_url":"http://hdl.handle.net/10722/46593","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference_Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1551186452","https://openalex.org/W1566041730","https://openalex.org/W1566800662","https://openalex.org/W1690519007","https://openalex.org/W1890673840","https://openalex.org/W2101392651","https://openalex.org/W2111241070","https://openalex.org/W2114215305","https://openalex.org/W2114965747","https://openalex.org/W2117669695","https://openalex.org/W2119067909","https://openalex.org/W2121955160","https://openalex.org/W2153005597","https://openalex.org/W2157210771","https://openalex.org/W2163398382","https://openalex.org/W2164380970","https://openalex.org/W2170156282","https://openalex.org/W6637413725","https://openalex.org/W6677690102","https://openalex.org/W6678166920"],"related_works":["https://openalex.org/W2720417647","https://openalex.org/W4225163935","https://openalex.org/W86933508","https://openalex.org/W2765089336","https://openalex.org/W2663455904","https://openalex.org/W2313074614","https://openalex.org/W2130464959","https://openalex.org/W2166742878","https://openalex.org/W2883992449","https://openalex.org/W1942058526"],"abstract_inverted_index":{"For":[0],"MSR":[1,49],"Robots":[2],"to":[3,17,43,104,124,137,148],"successfully":[4],"configure":[5],"from":[6],"one":[7],"configuration":[8,152],"into":[9],"another,":[10],"the":[11,19,23,38,45,53,57,94,106,112,126,130,133,140,149,159],"control":[12],"system":[13],"must":[14],"be":[15,27],"able":[16],"visualize":[18,44],"current":[20],"structure":[21,46,96],"of":[22,40,47,56,73,97,100,108,129,161],"robot,":[24,85],"which":[25,135],"cannot":[26],"done":[28],"without":[29],"appropriate":[30],"information":[31,41,62],"about":[32],"each":[33,162],"module's":[34],"docking":[35,69,127,163],"status.":[36],"Although":[37],"type":[39],"required":[42],"a":[48,79,87,98],"robot":[50],"differs":[51],"with":[52],"physical":[54],"design":[55],"modules,":[58],"there":[59],"are":[60,64],"essential":[61],"that":[63,90],"commonly":[65],"required,":[66],"such":[67],"as":[68],"orientation":[70,160],"and":[71,82,86,103,121],"identity":[72],"neighboring":[74],"modules.":[75],"This":[76],"paper":[77],"presents":[78],"novel":[80],"multi-port":[81],"multi-orientation":[83],"modular":[84],"representation":[88],"method":[89,116],"can":[91],"uniquely":[92],"represent":[93],"geometric":[95],"group":[99],"connected":[101],"modules":[102,131],"analyze":[105],"number":[107],"\"reconfigurable":[109],"DOF\"":[110],"within":[111,132],"structure.":[113],"The":[114],"proposed":[115],"uses":[117],"labeled":[118],"planar":[119],"graphs":[120],"incidence":[122],"matrices":[123],"describe":[125],"status":[128],"structure,":[134],"helps":[136],"effectively":[138],"encode":[139],"data":[141],"in":[142,151],"computer":[143],"understandable":[144],"expressions.":[145],"In":[146],"addition":[147],"work":[150],"analysis,":[153],"an":[154],"innovative":[155],"mechanism":[156],"for":[157],"detecting":[158],"port":[164],"is":[165],"also":[166],"presented.":[167]},"counts_by_year":[],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}