{"id":"https://openalex.org/W2109534775","doi":"https://doi.org/10.1109/tro.2010.2047299","title":"Stochastic Modular Robotic Systems: A Study of Fluidic Assembly Strategies","display_name":"Stochastic Modular Robotic Systems: A Study of Fluidic Assembly Strategies","publication_year":2010,"publication_date":"2010-05-21","ids":{"openalex":"https://openalex.org/W2109534775","doi":"https://doi.org/10.1109/tro.2010.2047299","mag":"2109534775"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2010.2047299","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2010.2047299","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-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/A5056621190","display_name":"Michael T. Tolley","orcid":"https://orcid.org/0000-0001-7821-7777"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael T Tolley","raw_affiliation_strings":["Computational Synthesis Laboratory, Cornell University, Ithaca, NY, USA","Comput. Synthesis Lab., Cornell Univ., Ithaca, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computational Synthesis Laboratory, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Comput. Synthesis Lab., Cornell Univ., Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073610766","display_name":"Michael Kalontarov","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Kalontarov","raw_affiliation_strings":["Integrated Micro-and Nanofluidic Systems Laboratory, Cornell University, Ithaca, NY, USA","Integrated Microand Nanofluidic Syst. Lab., Cornell Univ., Ithaca, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Integrated Micro-and Nanofluidic Systems Laboratory, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Integrated Microand Nanofluidic Syst. Lab., Cornell Univ., Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016853857","display_name":"Jonas Neubert","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonas Neubert","raw_affiliation_strings":["Computational Synthesis Laboratory, Cornell University, Ithaca, NY, USA","Comput. Synthesis Lab., Cornell Univ., Ithaca, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computational Synthesis Laboratory, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Comput. Synthesis Lab., Cornell Univ., Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102884577","display_name":"David Erickson","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Erickson","raw_affiliation_strings":["Integrated Micro-and Nanofluidic Systems Laboratory, Cornell University, Ithaca, NY, USA","Integrated Microand Nanofluidic Syst. Lab., Cornell Univ., Ithaca, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Integrated Micro-and Nanofluidic Systems Laboratory, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Integrated Microand Nanofluidic Syst. Lab., Cornell Univ., Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025894735","display_name":"Hod Lipson","orcid":"https://orcid.org/0000-0003-0769-4618"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hod Lipson","raw_affiliation_strings":["Computational Synthesis Laboratory, Cornell University, Ithaca, NY, USA","Comput. Synthesis Lab., Cornell Univ., Ithaca, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computational Synthesis Laboratory, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Comput. Synthesis Lab., Cornell Univ., Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":8.8605,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.97829517,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"26","issue":"3","first_page":"518","last_page":"530"},"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":0.9900000095367432,"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/T12288","display_name":"Optimization and Search Problems","score":0.9815000295639038,"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/modular-design","display_name":"Modular design","score":0.8946536779403687},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7004292011260986},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6305018663406372},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.5885732173919678},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.5745934247970581},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5716544985771179},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5551676750183105},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.4191749095916748},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4179462194442749},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41562366485595703},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3426916003227234},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28436368703842163},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2099863886833191},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1334713101387024},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.09576112031936646}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8946536779403687},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7004292011260986},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6305018663406372},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.5885732173919678},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.5745934247970581},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5716544985771179},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5551676750183105},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.4191749095916748},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4179462194442749},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41562366485595703},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3426916003227234},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28436368703842163},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2099863886833191},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1334713101387024},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.09576112031936646},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2010.2047299","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2010.2047299","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W42831717","https://openalex.org/W146395947","https://openalex.org/W1567090568","https://openalex.org/W1990148375","https://openalex.org/W2013549602","https://openalex.org/W2024068197","https://openalex.org/W2030227107","https://openalex.org/W2034424493","https://openalex.org/W2069507241","https://openalex.org/W2080469671","https://openalex.org/W2096537964","https://openalex.org/W2098759357","https://openalex.org/W2101128991","https://openalex.org/W2120974428","https://openalex.org/W2124599979","https://openalex.org/W2139841931","https://openalex.org/W2141202025","https://openalex.org/W2149602461","https://openalex.org/W2149841830","https://openalex.org/W2164773179","https://openalex.org/W2165081324","https://openalex.org/W2191516246","https://openalex.org/W2294626023","https://openalex.org/W2294959121","https://openalex.org/W2318476575","https://openalex.org/W2542605594","https://openalex.org/W3133494982","https://openalex.org/W6601732263","https://openalex.org/W6687122923","https://openalex.org/W6791345179"],"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":{"Modular":[0],"robotic":[1,73],"systems":[2],"typically":[3],"assemble":[4],"using":[5,107],"deterministic":[6],"processes":[7],"where":[8],"modules":[9],"are":[10],"directly":[11],"placed":[12],"into":[13],"their":[14],"target":[15,37,142],"position.":[16],"By":[17],"contrast,":[18],"stochastic":[19,79,93],"modular":[20,72],"robots":[21],"take":[22],"advantage":[23],"of":[24,33,90,99,125,137,139],"ambient":[25],"environmental":[26],"energy":[27],"for":[28,57,92],"the":[29,88,105,123,133],"transportation":[30],"and":[31,50,113,129,135],"delivery":[32],"robot":[34],"components":[35],"to":[36,45,69,86,121],"locations,":[38],"thus":[39],"offering":[40],"potential":[41,100],"scalability.":[42],"The":[43],"inability":[44],"precisely":[46],"predict":[47],"component":[48],"availability":[49],"assembly":[51,94,130,138],"rates":[52],"is":[53],"a":[54,65,71,78,97],"key":[55],"challenge":[56,89],"planning":[58,91],"in":[59,77],"such":[60],"environments.":[61],"Here,":[62],"we":[63],"describe":[64],"computationally":[66],"efficient":[67],"simulator":[68,83,106,120],"model":[70],"system":[74,127],"that":[75],"assembles":[76],"fluid":[80],"environment.":[81],"This":[82],"allows":[84],"us":[85],"address":[87],"by":[95],"testing":[96],"series":[98],"strategies.":[101],"We":[102,116],"first":[103],"calibrate":[104],"both":[108],"high-fidelity":[109],"computational":[110],"fluid-dynamics":[111],"simulations":[112],"physical":[114],"experiments.":[115],"then":[117],"use":[118],"this":[119],"study":[122],"effects":[124],"various":[126],"parameters":[128],"strategies":[131],"on":[132],"speed":[134],"accuracy":[136],"topologically":[140],"different":[141],"structures.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
