{"id":"https://openalex.org/W2754550828","doi":"https://doi.org/10.1126/scirobotics.aat4983","title":"An integrated system for perception-driven autonomy with modular robots","display_name":"An integrated system for perception-driven autonomy with modular robots","publication_year":2018,"publication_date":"2018-10-17","ids":{"openalex":"https://openalex.org/W2754550828","doi":"https://doi.org/10.1126/scirobotics.aat4983","mag":"2754550828","pmid":"https://pubmed.ncbi.nlm.nih.gov/33141737"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.aat4983","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aat4983","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1709.05435","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060753046","display_name":"Jonathan Daudelin","orcid":"https://orcid.org/0000-0002-5572-7245"},"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":true,"raw_author_name":"Jonathan Daudelin","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA"],"raw_orcid":"https://orcid.org/0000-0002-5572-7245","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086079891","display_name":"Gangyuan Jing","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":true,"raw_author_name":"Gangyuan Jing","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080668728","display_name":"Tarik Tosun","orcid":"https://orcid.org/0000-0003-0866-0591"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tarik Tosun","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0866-0591","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061019213","display_name":"Mark Yim","orcid":"https://orcid.org/0000-0002-0837-052X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Yim","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0837-052X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020074157","display_name":"Hadas Kress\u2010Gazit","orcid":"https://orcid.org/0000-0002-7754-1011"},"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":"Hadas Kress-Gazit","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA"],"raw_orcid":"https://orcid.org/0000-0002-7754-1011","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087789612","display_name":"Mark Campbell","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":"Mark Campbell","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5060753046","https://openalex.org/A5080668728","https://openalex.org/A5086079891"],"corresponding_institution_ids":["https://openalex.org/I205783295","https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":6.6609,"has_fulltext":false,"cited_by_count":111,"citation_normalized_percentile":{"value":0.97539386,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"3","issue":"23","first_page":null,"last_page":null},"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":0.9801999926567078,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9775999784469604,"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/modular-design","display_name":"Modular design","score":0.8189778327941895},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.759040355682373},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.6817513704299927},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6651015281677246},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.6395602226257324},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6147457361221313},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5568945407867432},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3921215534210205},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27712708711624146},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.26290321350097656},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.22535085678100586},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.07077023386955261},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.0677119791507721}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8189778327941895},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.759040355682373},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.6817513704299927},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6651015281677246},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.6395602226257324},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6147457361221313},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5568945407867432},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3921215534210205},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27712708711624146},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.26290321350097656},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.22535085678100586},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.07077023386955261},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0677119791507721},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1126/scirobotics.aat4983","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aat4983","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:33141737","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33141737","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":null},{"id":"pmh:oai:arXiv.org:1709.05435","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1709.05435","pdf_url":"https://arxiv.org/pdf/1709.05435","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1709.05435","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1709.05435","pdf_url":"https://arxiv.org/pdf/1709.05435","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6899999976158142}],"awards":[{"id":"https://openalex.org/G5253847482","display_name":null,"funder_award_id":"CNS-1329692","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5399428232","display_name":null,"funder_award_id":"CNS-1329620","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1489108251","https://openalex.org/W1549395960","https://openalex.org/W1566800662","https://openalex.org/W1843692875","https://openalex.org/W1909393615","https://openalex.org/W1928929119","https://openalex.org/W1965551774","https://openalex.org/W1967121867","https://openalex.org/W1968034339","https://openalex.org/W1984426410","https://openalex.org/W1996542214","https://openalex.org/W2004796166","https://openalex.org/W2033814129","https://openalex.org/W2046162118","https://openalex.org/W2061745415","https://openalex.org/W2117998504","https://openalex.org/W2124145877","https://openalex.org/W2125188427","https://openalex.org/W2127826644","https://openalex.org/W2130086747","https://openalex.org/W2132817270","https://openalex.org/W2133844819","https://openalex.org/W2136247341","https://openalex.org/W2149841830","https://openalex.org/W2151958719","https://openalex.org/W2152735424","https://openalex.org/W2159093508","https://openalex.org/W2167983353","https://openalex.org/W2408862423","https://openalex.org/W2410313329","https://openalex.org/W2564145065","https://openalex.org/W2582849885","https://openalex.org/W2736495576","https://openalex.org/W2741509917","https://openalex.org/W2774832050","https://openalex.org/W3102580236","https://openalex.org/W3106216177","https://openalex.org/W3117241017"],"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/W3015461243"],"abstract_inverted_index":{"The":[0,61,103],"theoretical":[1],"ability":[2],"of":[3,42,54,120],"modular":[4,38,68,83,123,144],"robots":[5,146],"to":[6,10,50,94,99,129,139,147],"reconfigure":[7],"in":[8,13,32,73,133,150],"response":[9],"complex":[11],"tasks":[12,46,149],"a":[14,27,37,55,57,78,82,122],"priori":[15,58],"unknown":[16,59,88,134],"environments":[17],"has":[18],"frequently":[19],"been":[20],"cited":[21],"as":[22],"an":[23,87,118],"advantage":[24],"and":[25,67,70,92,96,114],"remains":[26],"major":[28],"motivator":[29],"for":[30,143],"work":[31],"the":[33,52,141,151],"field.":[34],"We":[35],"present":[36],"robot":[39,84,124],"system":[40,62,104,125],"capable":[41],"autonomously":[43,85],"completing":[44],"high-level":[45,65,79],"by":[47],"reactively":[48],"reconfiguring":[49],"meet":[51],"needs":[53],"perceived,":[56],"environment.":[60],"integrates":[63],"perception,":[64,112],"planning,":[66,113],"hardware":[69,75],"is":[71],"validated":[72],"three":[74],"demonstrations.":[76],"Given":[77],"task":[80],"specification,":[81],"explores":[86],"environment,":[89],"decides":[90],"when":[91],"how":[93,121],"reconfigure,":[95],"manipulates":[97],"objects":[98],"complete":[100],"its":[101],"task.":[102],"architecture":[105],"balances":[106],"distributed":[107],"mechanical":[108],"elements":[109],"with":[110],"centralized":[111],"control.":[115],"By":[116],"providing":[117],"example":[119],"can":[126],"be":[127],"designed":[128],"leverage":[130],"reactive":[131],"reconfigurability":[132],"environments,":[135],"we":[136],"have":[137],"begun":[138],"lay":[140],"groundwork":[142],"self-reconfigurable":[145],"address":[148],"real":[152],"world.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":21},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
