{"id":"https://openalex.org/W2061836133","doi":"https://doi.org/10.1109/syscon.2013.6549920","title":"Modeling and controlling the structure of heterogeneous mobile robotic systems: A bigactor approach","display_name":"Modeling and controlling the structure of heterogeneous mobile robotic systems: A bigactor approach","publication_year":2013,"publication_date":"2013-04-01","ids":{"openalex":"https://openalex.org/W2061836133","doi":"https://doi.org/10.1109/syscon.2013.6549920","mag":"2061836133"},"language":"en","primary_location":{"id":"doi:10.1109/syscon.2013.6549920","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon.2013.6549920","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Systems Conference (SysCon)","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/A5000386724","display_name":"El\u00f3i Pereira","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"E. Pereira","raw_affiliation_strings":["University of California Berkeley, Berkeley, CA, US","Syst. Eng., UC Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California Berkeley, Berkeley, CA, US","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Syst. Eng., UC Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040110043","display_name":"C. Potiron","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Potiron","raw_affiliation_strings":["Systems Engineering, University of California, Berkeley, CA, USA","Syst. Eng., UC Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Systems Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Syst. Eng., UC Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102985234","display_name":"Christoph Kirsch","orcid":"https://orcid.org/0000-0002-3515-6203"},"institutions":[{"id":"https://openalex.org/I182212641","display_name":"University of Salzburg","ror":"https://ror.org/05gs8cd61","country_code":"AT","type":"education","lineage":["https://openalex.org/I182212641"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"C. M. Kirsch","raw_affiliation_strings":["Department of Computer Science, University of Salzburg, Austria","[Department of Computer Science, University of Salzburg, Salzburg, Austria]"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Salzburg, Austria","institution_ids":["https://openalex.org/I182212641"]},{"raw_affiliation_string":"[Department of Computer Science, University of Salzburg, Salzburg, Austria]","institution_ids":["https://openalex.org/I182212641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061803229","display_name":"Raja Sengupta","orcid":"https://orcid.org/0000-0003-4914-5844"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Sengupta","raw_affiliation_strings":["Systems Engineering, University of California, Berkeley, CA, USA","Syst. Eng., UC Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Systems Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Syst. Eng., UC Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5000386724"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":1.508,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.8500826,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"43","issue":null,"first_page":"442","last_page":"447"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9998000264167786,"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/T10772","display_name":"Distributed systems and fault tolerance","score":0.9958999752998352,"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/abstraction","display_name":"Abstraction","score":0.7825272083282471},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.782058596611023},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7168093919754028},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6566124558448792},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.6047985553741455},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5671374797821045},{"id":"https://openalex.org/keywords/model-of-computation","display_name":"Model of computation","score":0.5028857588768005},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4190024137496948},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3788917064666748},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32007408142089844},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09041410684585571}],"concepts":[{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.7825272083282471},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.782058596611023},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7168093919754028},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6566124558448792},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.6047985553741455},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5671374797821045},{"id":"https://openalex.org/C184596265","wikidata":"https://www.wikidata.org/wiki/Q2651576","display_name":"Model of computation","level":3,"score":0.5028857588768005},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4190024137496948},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3788917064666748},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32007408142089844},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09041410684585571},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/syscon.2013.6549920","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon.2013.6549920","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Systems Conference (SysCon)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.381.6486","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.381.6486","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://cpcc.berkeley.edu/papers/Modeling.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1535347731","https://openalex.org/W1536701116","https://openalex.org/W1588422495","https://openalex.org/W1600421246","https://openalex.org/W1603799276","https://openalex.org/W1983485478","https://openalex.org/W2001748564","https://openalex.org/W2039245308","https://openalex.org/W2072794470","https://openalex.org/W2078283828","https://openalex.org/W2098830227","https://openalex.org/W2107737506","https://openalex.org/W2115433222","https://openalex.org/W2133432177","https://openalex.org/W2158615203","https://openalex.org/W2160353276","https://openalex.org/W2160643434","https://openalex.org/W4256363426","https://openalex.org/W4294621147","https://openalex.org/W6632165618"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W124095581","https://openalex.org/W2014394412","https://openalex.org/W1496964288","https://openalex.org/W154258522","https://openalex.org/W814988660","https://openalex.org/W4221140179","https://openalex.org/W1967093019","https://openalex.org/W2762130752"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3,84],"address":[4],"the":[5,42,45,74],"problem":[6],"of":[7,23,41,44,68,88],"modelling":[8],"and":[9,34,50],"controlling":[10],"heterogeneous":[11,89],"mobile":[12,24,60],"robotic":[13,25,61],"systems":[14],"at":[15],"a":[16,21,66,86],"structure-level":[17],"abstraction.":[18],"We":[19],"consider":[20],"system":[22],"entities":[26,62],"that":[27,47,70],"are":[28],"able":[29],"to":[30,58],"observe,":[31],"control,":[32],"compute,":[33],"communicate.":[35],"They":[36],"operate":[37],"upon":[38],"an":[39,93],"abstraction":[40],"structure":[43],"world":[46],"entails":[48],"location":[49],"connectivity":[51],"as":[52,63],"first-class":[53],"concepts.":[54],"Our":[55],"approach":[56],"is":[57],"model":[59,67,76,85],"bigActors":[64],"[18],":[65],"computation":[69],"combines":[71],"bigraphs":[72],"with":[73],"actor":[75],"for":[77],"modeling":[78],"structure-aware":[79],"computation.":[80],"As":[81],"case":[82],"study,":[83],"mission":[87],"unmanned":[90],"vehicles":[91],"performing":[92],"environmental":[94],"monitoring":[95],"mission.":[96]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}