{"id":"https://openalex.org/W2120923523","doi":"https://doi.org/10.1109/robot.2009.5152798","title":"Specialization as an optimal strategy under varying external conditions","display_name":"Specialization as an optimal strategy under varying external conditions","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2120923523","doi":"https://doi.org/10.1109/robot.2009.5152798","mag":"2120923523"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152798","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152798","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","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/A5042002060","display_name":"M. Ani Hsieh","orcid":"https://orcid.org/0000-0003-2186-9074"},"institutions":[{"id":"https://openalex.org/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M.A. Hsieh","raw_affiliation_strings":["Mechanical Engineering and Mechanics Department, Drexel University, Philadelphia, PA, USA","Mechanical Engineering and Mechanics Department, Drexel University, 3141 Chestnut Street, Philadelphia, 19104, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering and Mechanics Department, Drexel University, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I72816309"]},{"raw_affiliation_string":"Mechanical Engineering and Mechanics Department, Drexel University, 3141 Chestnut Street, Philadelphia, 19104, USA","institution_ids":["https://openalex.org/I72816309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087387014","display_name":"\u00c1d\u00e1m Hal\u00e1sz","orcid":"https://orcid.org/0000-0001-5401-000X"},"institutions":[{"id":"https://openalex.org/I12097938","display_name":"West Virginia University","ror":"https://ror.org/011vxgd24","country_code":"US","type":"education","lineage":["https://openalex.org/I12097938"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Halasz","raw_affiliation_strings":["Department of Mathematics, West Virginia University, Morgantown, WV, USA","A. Hal\u00e1sz is with the Department of Mathematics, P.O. Box 6310, West Virginia University, Morgantown, 26506, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematics, West Virginia University, Morgantown, WV, USA","institution_ids":["https://openalex.org/I12097938"]},{"raw_affiliation_string":"A. Hal\u00e1sz is with the Department of Mathematics, P.O. Box 6310, West Virginia University, Morgantown, 26506, USA","institution_ids":["https://openalex.org/I12097938"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112267162","display_name":"Ekin D. Cubuk","orcid":null},"institutions":[{"id":"https://openalex.org/I118020396","display_name":"Swarthmore College","ror":"https://ror.org/012dg8a96","country_code":"US","type":"education","lineage":["https://openalex.org/I118020396"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E.D. Cubuk","raw_affiliation_strings":["Swarthmore College, Swarthmore, PA, USA","Swarthmore College, 500 College Ave., PA 19081, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swarthmore College, Swarthmore, PA, USA","institution_ids":["https://openalex.org/I118020396"]},{"raw_affiliation_string":"Swarthmore College, 500 College Ave., PA 19081, USA","institution_ids":["https://openalex.org/I118020396"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036539424","display_name":"Sam Schoenholz","orcid":null},"institutions":[{"id":"https://openalex.org/I118020396","display_name":"Swarthmore College","ror":"https://ror.org/012dg8a96","country_code":"US","type":"education","lineage":["https://openalex.org/I118020396"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Schoenholz","raw_affiliation_strings":["Swarthmore College, Swarthmore, PA, USA","Swarthmore College, 500 College Ave., PA 19081, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swarthmore College, Swarthmore, PA, USA","institution_ids":["https://openalex.org/I118020396"]},{"raw_affiliation_string":"Swarthmore College, 500 College Ave., PA 19081, USA","institution_ids":["https://openalex.org/I118020396"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080713076","display_name":"Alcherio Martinoli","orcid":"https://orcid.org/0000-0002-5201-7862"},"institutions":[{"id":"https://openalex.org/I29607241","display_name":"\u00c9cole Normale Sup\u00e9rieure - PSL","ror":"https://ror.org/05a0dhs15","country_code":"FR","type":"other","lineage":["https://openalex.org/I2746051580","https://openalex.org/I29607241"]},{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH","FR"],"is_corresponding":false,"raw_author_name":"A. Martinoli","raw_affiliation_strings":["Distributed Intelligent Systems and Algorithms Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","Distributed Intelligent Systems and Algorithms Laboratory, \u00c9cole Politechnique F\u00e9d\u00e9rale de Lausanne, CH-1015, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Distributed Intelligent Systems and Algorithms Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Distributed Intelligent Systems and Algorithms Laboratory, \u00c9cole Politechnique F\u00e9d\u00e9rale de Lausanne, CH-1015, Switzerland","institution_ids":["https://openalex.org/I29607241"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.266,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.92575229,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1941","last_page":"1946"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9987000226974487,"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/T11252","display_name":"Evolutionary Game Theory and Cooperation","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/3312","display_name":"Sociology and Political Science"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.9172325134277344},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6986708641052246},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6753975749015808},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6142882704734802},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.6096526384353638},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.6036087870597839},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.49898362159729004},{"id":"https://openalex.org/keywords/productivity","display_name":"Productivity","score":0.48568591475486755},{"id":"https://openalex.org/keywords/swarm-intelligence","display_name":"Swarm intelligence","score":0.43406254053115845},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.3072953224182129},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22110146284103394},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1830202341079712},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16232502460479736},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.06171834468841553}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.9172325134277344},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6986708641052246},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6753975749015808},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6142882704734802},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.6096526384353638},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.6036087870597839},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.49898362159729004},{"id":"https://openalex.org/C204983608","wikidata":"https://www.wikidata.org/wiki/Q2111958","display_name":"Productivity","level":2,"score":0.48568591475486755},{"id":"https://openalex.org/C119487961","wikidata":"https://www.wikidata.org/wiki/Q863960","display_name":"Swarm intelligence","level":3,"score":0.43406254053115845},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.3072953224182129},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22110146284103394},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1830202341079712},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16232502460479736},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.06171834468841553},{"id":"https://openalex.org/C139719470","wikidata":"https://www.wikidata.org/wiki/Q39680","display_name":"Macroeconomics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2009.5152798","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152798","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.366.9808","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.366.9808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://drexelsaslab.appspot.com/pubs/hsieh_icra09.pdf","raw_type":"text"},{"id":"pmh:oai:infoscience.epfl.ch:166171","is_oa":false,"landing_page_url":"http://infoscience.epfl.ch/record/166171","pdf_url":null,"source":{"id":"https://openalex.org/S4306400488","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","score":0.5400000214576721,"display_name":"Decent work and economic growth"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1479880431","https://openalex.org/W2043487490","https://openalex.org/W2052064204","https://openalex.org/W2108765649","https://openalex.org/W2108775265","https://openalex.org/W2113257089","https://openalex.org/W2115558907","https://openalex.org/W2117279095","https://openalex.org/W2117923849","https://openalex.org/W2119005343","https://openalex.org/W2126361298","https://openalex.org/W2128928412","https://openalex.org/W2137153348","https://openalex.org/W2138328817","https://openalex.org/W2144827113","https://openalex.org/W2146523146","https://openalex.org/W2161364298","https://openalex.org/W2167154952","https://openalex.org/W2338404978","https://openalex.org/W4247225885","https://openalex.org/W6703290608"],"related_works":["https://openalex.org/W4233987368","https://openalex.org/W65954170","https://openalex.org/W1988876749","https://openalex.org/W2182522217","https://openalex.org/W4386001959","https://openalex.org/W4234675952","https://openalex.org/W2048054807","https://openalex.org/W4304182880","https://openalex.org/W4362659455","https://openalex.org/W2789344126"],"abstract_inverted_index":{"We":[0,52],"present":[1],"an":[2],"investigation":[3],"of":[4,10,43,49],"specialization":[5,85],"when":[6],"considering":[7],"the":[8,20,38,47,74],"execution":[9],"collaborative":[11],"tasks":[12,44],"by":[13,25,63],"a":[14,33,41,64,78,87],"robot":[15],"swarm.":[16],"Specifically,":[17],"we":[18,82],"consider":[19],"stick-pulling":[21],"problem":[22],"first":[23],"proposed":[24],"Martinoli":[26],"et":[27],"al.":[28],"[1],":[29],"[2]":[30],"and":[31],"develop":[32],"macroscopic":[34],"analytical":[35],"model":[36],"for":[37,54,77,91],"swarm":[39,67],"executing":[40],"set":[42],"that":[45],"require":[46],"collaboration":[48],"two":[50,79],"robots.":[51],"show,":[53],"constant":[55],"external":[56,93],"conditions,":[57],"maximum":[58],"productivity":[59],"can":[60],"be":[61],"achieved":[62],"single":[65],"species":[66,80],"with":[68],"carefully":[69],"chosen":[70],"operational":[71],"parameters.":[72],"While":[73],"same":[75],"applies":[76],"swarm,":[81],"show":[83],"how":[84],"is":[86],"strategy":[88],"best":[89],"employed":[90],"changing":[92],"conditions.":[94]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2012,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
