{"id":"https://openalex.org/W2911706087","doi":"https://doi.org/10.1109/ssci.2018.8628628","title":"Automated Reconfiguration of Modular Robots Using Robot Manipulators","display_name":"Automated Reconfiguration of Modular Robots Using Robot Manipulators","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2911706087","doi":"https://doi.org/10.1109/ssci.2018.8628628","mag":"2911706087"},"language":"en","primary_location":{"id":"doi:10.1109/ssci.2018.8628628","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssci.2018.8628628","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Symposium Series on Computational Intelligence (SSCI)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pure.itu.dk/portal/da/publications/523a6687-b39a-4189-985b-e207e1bda62b","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051038678","display_name":"Rodrigo Moreno","orcid":"https://orcid.org/0000-0003-3738-010X"},"institutions":[{"id":"https://openalex.org/I36243813","display_name":"Universidad Nacional de Colombia","ror":"https://ror.org/059yx9a68","country_code":"CO","type":"education","lineage":["https://openalex.org/I36243813"]}],"countries":["CO"],"is_corresponding":true,"raw_author_name":"Rodrigo Moreno","raw_affiliation_strings":["School of Engineering, Universidad Nacional de Colombia, Bogota, D.C., Colombia"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Universidad Nacional de Colombia, Bogota, D.C., Colombia","institution_ids":["https://openalex.org/I36243813"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011724776","display_name":"Frank Veenstra","orcid":null},"institutions":[{"id":"https://openalex.org/I83467386","display_name":"IT University of Copenhagen","ror":"https://ror.org/02309jg23","country_code":"DK","type":"education","lineage":["https://openalex.org/I83467386"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Frank Veenstra","raw_affiliation_strings":["Robotics, Evolution and Art Laboratory, IT University of Copenhagen, Copenhagen, Denmark"],"affiliations":[{"raw_affiliation_string":"Robotics, Evolution and Art Laboratory, IT University of Copenhagen, Copenhagen, Denmark","institution_ids":["https://openalex.org/I83467386"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059750645","display_name":"David H. Silvera","orcid":null},"institutions":[{"id":"https://openalex.org/I36243813","display_name":"Universidad Nacional de Colombia","ror":"https://ror.org/059yx9a68","country_code":"CO","type":"education","lineage":["https://openalex.org/I36243813"]}],"countries":["CO"],"is_corresponding":false,"raw_author_name":"David Silvera","raw_affiliation_strings":["School of Engineering, Universidad Nacional de Colombia, Bogota, D.C., Colombia"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Universidad Nacional de Colombia, Bogota, D.C., Colombia","institution_ids":["https://openalex.org/I36243813"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109601209","display_name":"J. H. Ram\u00edrez Franco","orcid":null},"institutions":[{"id":"https://openalex.org/I36243813","display_name":"Universidad Nacional de Colombia","ror":"https://ror.org/059yx9a68","country_code":"CO","type":"education","lineage":["https://openalex.org/I36243813"]}],"countries":["CO"],"is_corresponding":false,"raw_author_name":"Julian Franco","raw_affiliation_strings":["School of Engineering, Universidad Nacional de Colombia, Bogota, D.C., Colombia"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Universidad Nacional de Colombia, Bogota, D.C., Colombia","institution_ids":["https://openalex.org/I36243813"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013073867","display_name":"\u00d3scar Gracia","orcid":null},"institutions":[{"id":"https://openalex.org/I36243813","display_name":"Universidad Nacional de Colombia","ror":"https://ror.org/059yx9a68","country_code":"CO","type":"education","lineage":["https://openalex.org/I36243813"]}],"countries":["CO"],"is_corresponding":false,"raw_author_name":"Oscar Gracia","raw_affiliation_strings":["School of Engineering, Universidad Nacional de Colombia, Bogota, D.C., Colombia"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Universidad Nacional de Colombia, Bogota, D.C., Colombia","institution_ids":["https://openalex.org/I36243813"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080265555","display_name":"Ernesto C\u00f3rdoba","orcid":null},"institutions":[{"id":"https://openalex.org/I36243813","display_name":"Universidad Nacional de Colombia","ror":"https://ror.org/059yx9a68","country_code":"CO","type":"education","lineage":["https://openalex.org/I36243813"]}],"countries":["CO"],"is_corresponding":false,"raw_author_name":"Ernesto Cordoba","raw_affiliation_strings":["School of Engineering, Universidad Nacional de Colombia, Bogota, D.C., Colombia"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Universidad Nacional de Colombia, Bogota, D.C., Colombia","institution_ids":["https://openalex.org/I36243813"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102916435","display_name":"Jonatan G\u00f3mez","orcid":"https://orcid.org/0000-0002-0777-9438"},"institutions":[{"id":"https://openalex.org/I36243813","display_name":"Universidad Nacional de Colombia","ror":"https://ror.org/059yx9a68","country_code":"CO","type":"education","lineage":["https://openalex.org/I36243813"]}],"countries":["CO"],"is_corresponding":false,"raw_author_name":"Jonatan Gomez","raw_affiliation_strings":["School of Engineering, Universidad Nacional de Colombia, Bogota, D.C., Colombia"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Universidad Nacional de Colombia, Bogota, D.C., Colombia","institution_ids":["https://openalex.org/I36243813"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035172531","display_name":"Andr\u00e9s Fa\u00ed\u00f1a","orcid":"https://orcid.org/0000-0001-7288-6988"},"institutions":[{"id":"https://openalex.org/I83467386","display_name":"IT University of Copenhagen","ror":"https://ror.org/02309jg23","country_code":"DK","type":"education","lineage":["https://openalex.org/I83467386"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Andres Faina","raw_affiliation_strings":["Robotics, Evolution and Art Laboratory, IT University of Copenhagen, Copenhagen, Denmark"],"affiliations":[{"raw_affiliation_string":"Robotics, Evolution and Art Laboratory, IT University of Copenhagen, Copenhagen, Denmark","institution_ids":["https://openalex.org/I83467386"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5051038678"],"corresponding_institution_ids":["https://openalex.org/I36243813"],"apc_list":null,"apc_paid":null,"fwci":1.6721,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.8335002,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"343","issue":null,"first_page":"884","last_page":"891"},"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":0.9682000279426575,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9668999910354614,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.8664098978042603},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.8527094721794128},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8185594081878662},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7503137588500977},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6763251423835754},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42655321955680847},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3977231979370117},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3897411525249481},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.2542577385902405},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.12433910369873047}],"concepts":[{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.8664098978042603},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.8527094721794128},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8185594081878662},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7503137588500977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6763251423835754},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42655321955680847},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3977231979370117},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3897411525249481},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.2542577385902405},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.12433910369873047}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ssci.2018.8628628","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssci.2018.8628628","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Symposium Series on Computational Intelligence (SSCI)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:openaire/523a6687-b39a-4189-985b-e207e1bda62b","is_oa":true,"landing_page_url":"https://pure.itu.dk/portal/da/publications/523a6687-b39a-4189-985b-e207e1bda62b","pdf_url":null,"source":{"id":"https://openalex.org/S4377196680","display_name":"IT University Of Copenhagen (IT University of Copenhagen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83467386","host_organization_name":"IT University of Copenhagen","host_organization_lineage":["https://openalex.org/I83467386"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Moreno, R, Veenstra, F, Silvera, D, Franco, J, Gracia, O, Cordoba, E, Gomez, J & Faina, A 2018, Automated Reconfiguration of Modular Robots Using Robot Manipulators. in Proceedings of the 2018 IEEE Symposium Series on Computational Intelligence (SSCI 2018). IEEE, Bangalore, India, pp. 884-891. https://doi.org/10.1109/SSCI.2018.8628628","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:pure.atira.dk:openaire/523a6687-b39a-4189-985b-e207e1bda62b","is_oa":true,"landing_page_url":"https://pure.itu.dk/portal/da/publications/523a6687-b39a-4189-985b-e207e1bda62b","pdf_url":null,"source":{"id":"https://openalex.org/S4377196680","display_name":"IT University Of Copenhagen (IT University of Copenhagen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83467386","host_organization_name":"IT University of Copenhagen","host_organization_lineage":["https://openalex.org/I83467386"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Moreno, R, Veenstra, F, Silvera, D, Franco, J, Gracia, O, Cordoba, E, Gomez, J & Faina, A 2018, Automated Reconfiguration of Modular Robots Using Robot Manipulators. in Proceedings of the 2018 IEEE Symposium Series on Computational Intelligence (SSCI 2018). IEEE, Bangalore, India, pp. 884-891. https://doi.org/10.1109/SSCI.2018.8628628","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W285953880","https://openalex.org/W1524850010","https://openalex.org/W1787284831","https://openalex.org/W1946920133","https://openalex.org/W1992506602","https://openalex.org/W1994174361","https://openalex.org/W1997488333","https://openalex.org/W2043164756","https://openalex.org/W2061695389","https://openalex.org/W2061792009","https://openalex.org/W2066059644","https://openalex.org/W2070548258","https://openalex.org/W2080581686","https://openalex.org/W2112764944","https://openalex.org/W2117085697","https://openalex.org/W2120173147","https://openalex.org/W2124599979","https://openalex.org/W2131237377","https://openalex.org/W2149841830","https://openalex.org/W2416232300","https://openalex.org/W2532750089","https://openalex.org/W2616755004","https://openalex.org/W2736214932","https://openalex.org/W2738971915","https://openalex.org/W2772209245","https://openalex.org/W2911706087","https://openalex.org/W3040900785","https://openalex.org/W6679977833"],"related_works":["https://openalex.org/W2963148304","https://openalex.org/W2720417647","https://openalex.org/W4386781757","https://openalex.org/W2554741953","https://openalex.org/W4225163935","https://openalex.org/W2064761790","https://openalex.org/W86933508","https://openalex.org/W2765089336","https://openalex.org/W2663455904","https://openalex.org/W2247893165"],"abstract_inverted_index":{"Self-reconfigurability":[0],"in":[1,54,140,166],"modular":[2,71,91],"robots":[3],"is":[4,153],"a":[5,123],"challenging":[6],"task":[7],"that":[8,96,170],"usually":[9],"requires":[10],"complex":[11,180,183],"module":[12],"designs":[13],"and":[14,46,58,89,109,122,144,161],"algorithms.":[15],"To":[16],"make":[17],"the":[18,59,66,70,97,103,111,115,141,148,158,167],"reconfigurability":[19],"easier,":[20],"unpowered":[21,56],"permanent":[22],"magnet-based":[23],"modules":[24,34,112,181],"can":[25,51,80,137],"be":[26,52,138,175],"reconfigured":[27,53],"by":[28],"an":[29,82],"external":[30],"robotic":[31,120],"manipulator.":[32],"These":[33],"are,":[35],"thereby,":[36],"not":[37,63],"dependent":[38],"on":[39],"each":[40],"separate":[41],"module's":[42],"inclusion":[43],"of":[44,69,99,119,163],"batteries":[45],"control":[47],"circuitry":[48],"since":[49],"they":[50],"their":[55],"state,":[57],"reconfiguration":[60],"movements":[61],"are":[62],"restricted":[64],"to":[65,87,106,113,129,156,174],"kinematic":[67],"chain":[68],"robot.":[72],"In":[73],"this":[74],"paper,":[75],"we":[76,79],"discuss":[77],"how":[78],"utilize":[81],"active":[83],"or":[84,177,182],"passive":[85],"gripper":[86],"assemble":[88],"disassemble":[90],"robots.":[92],"We":[93],"furthermore":[94],"demonstrate":[95],"use":[98],"fiducial":[100],"markers":[101],"allows":[102,127],"robot":[104,132,164],"arm":[105],"accurately":[107],"pick":[108],"place":[110],"reconfigure":[114],"morphologies.":[116],"The":[117],"utilization":[118],"arms":[121],"visual":[124],"feedback":[125],"system":[126],"us":[128],"quickly":[130],"create":[131],"morphologies":[133,165],"from":[134],"modules,":[135],"which":[136],"evaluated":[139],"real":[142,168],"world":[143,169],"then":[145],"reshaped":[146],"using":[147],"same":[149],"components.":[150],"This":[151],"technique":[152],"especially":[154],"valuable":[155],"enable":[157],"rapid":[159],"generation":[160],"evaluation":[162],"would":[171],"traditionally":[172],"need":[173],"reconstructed":[176],"reassembled":[178],"with":[179],"attachment":[184],"mechanisms.":[185]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}