{"id":"https://openalex.org/W2914693969","doi":"https://doi.org/10.1126/scirobotics.aau0307","title":"AntBot: A six-legged walking robot able to home like desert ants in outdoor environments","display_name":"AntBot: A six-legged walking robot able to home like desert ants in outdoor environments","publication_year":2019,"publication_date":"2019-02-14","ids":{"openalex":"https://openalex.org/W2914693969","doi":"https://doi.org/10.1126/scirobotics.aau0307","mag":"2914693969","pmid":"https://pubmed.ncbi.nlm.nih.gov/33137736"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.aau0307","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aau0307","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":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://amu.hal.science/hal-02075700","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070590126","display_name":"Julien Dupeyroux","orcid":"https://orcid.org/0000-0002-7414-5021"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I21491767","display_name":"Aix-Marseille Universit\u00e9","ror":"https://ror.org/035xkbk20","country_code":"FR","type":"education","lineage":["https://openalex.org/I21491767"]},{"id":"https://openalex.org/I4210086194","display_name":"Institut des Sciences Mol\u00e9culaires","ror":"https://ror.org/00r8jkk54","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I15057530","https://openalex.org/I4210086194","https://openalex.org/I4210128300","https://openalex.org/I4210160189"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Julien Dupeyroux","raw_affiliation_strings":["Aix Marseille Univ, CNRS, ISM, Marseille, France"],"affiliations":[{"raw_affiliation_string":"Aix Marseille Univ, CNRS, ISM, Marseille, France","institution_ids":["https://openalex.org/I21491767","https://openalex.org/I4210086194","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081151851","display_name":"Julien Serres","orcid":"https://orcid.org/0000-0002-2840-7932"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I21491767","display_name":"Aix-Marseille Universit\u00e9","ror":"https://ror.org/035xkbk20","country_code":"FR","type":"education","lineage":["https://openalex.org/I21491767"]},{"id":"https://openalex.org/I4210086194","display_name":"Institut des Sciences Mol\u00e9culaires","ror":"https://ror.org/00r8jkk54","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I15057530","https://openalex.org/I4210086194","https://openalex.org/I4210128300","https://openalex.org/I4210160189"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Julien R. Serres","raw_affiliation_strings":["Aix Marseille Univ, CNRS, ISM, Marseille, France"],"affiliations":[{"raw_affiliation_string":"Aix Marseille Univ, CNRS, ISM, Marseille, France","institution_ids":["https://openalex.org/I21491767","https://openalex.org/I4210086194","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015912988","display_name":"St\u00e9phane Viollet","orcid":"https://orcid.org/0000-0003-1585-9822"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I21491767","display_name":"Aix-Marseille Universit\u00e9","ror":"https://ror.org/035xkbk20","country_code":"FR","type":"education","lineage":["https://openalex.org/I21491767"]},{"id":"https://openalex.org/I4210086194","display_name":"Institut des Sciences Mol\u00e9culaires","ror":"https://ror.org/00r8jkk54","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I15057530","https://openalex.org/I4210086194","https://openalex.org/I4210128300","https://openalex.org/I4210160189"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"St\u00e9phane Viollet","raw_affiliation_strings":["Aix Marseille Univ, CNRS, ISM, Marseille, France","CNRS - Centre National de la Recherche Scientifique (France)"],"affiliations":[{"raw_affiliation_string":"Aix Marseille Univ, CNRS, ISM, Marseille, France","institution_ids":["https://openalex.org/I21491767","https://openalex.org/I4210086194","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"CNRS - Centre National de la Recherche Scientifique (France)","institution_ids":["https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5070590126"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I21491767","https://openalex.org/I4210086194"],"apc_list":null,"apc_paid":null,"fwci":9.0675,"has_fulltext":false,"cited_by_count":171,"citation_normalized_percentile":{"value":0.98600966,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"4","issue":"27","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9962999820709229,"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/T10616","display_name":"Smart Agriculture and AI","score":0.9853000044822693,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/desert","display_name":"Desert (philosophy)","score":0.7649471759796143},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6384329795837402},{"id":"https://openalex.org/keywords/ant","display_name":"ANT","score":0.4765534996986389},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.4292786717414856},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4124666154384613},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.40610089898109436},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3361450433731079},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.3129461407661438},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2903516888618469},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.18451252579689026}],"concepts":[{"id":"https://openalex.org/C2776130869","wikidata":"https://www.wikidata.org/wiki/Q1361649","display_name":"Desert (philosophy)","level":2,"score":0.7649471759796143},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6384329795837402},{"id":"https://openalex.org/C97467695","wikidata":"https://www.wikidata.org/wiki/Q295802","display_name":"ANT","level":2,"score":0.4765534996986389},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4292786717414856},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4124666154384613},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.40610089898109436},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3361450433731079},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.3129461407661438},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2903516888618469},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.18451252579689026},{"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":3,"locations":[{"id":"doi:10.1126/scirobotics.aau0307","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aau0307","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:33137736","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33137736","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:HAL:hal-02075700v1","is_oa":true,"landing_page_url":"https://amu.hal.science/hal-02075700","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Science Robotics, 2019, &#x27E8;10.1126/scirobotics.aau0307&#x27E9;","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02075700v1","is_oa":true,"landing_page_url":"https://amu.hal.science/hal-02075700","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Science Robotics, 2019, &#x27E8;10.1126/scirobotics.aau0307&#x27E9;","raw_type":"Journal articles"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309911","display_name":"Aix-Marseille Universit\u00e9","ror":"https://ror.org/035xkbk20"},{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"},{"id":"https://openalex.org/F4320322892","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73"},{"id":"https://openalex.org/F4320326210","display_name":"Conseil R\u00e9gional Provence-Alpes-C\u00f4te d'Azur","ror":null},{"id":"https://openalex.org/F4320335086","display_name":"Direction G\u00e9n\u00e9rale de l\u2019Armement","ror":"https://ror.org/04wsqd844"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":72,"referenced_works":["https://openalex.org/W55356353","https://openalex.org/W110022514","https://openalex.org/W1496627614","https://openalex.org/W1562619934","https://openalex.org/W1738827650","https://openalex.org/W1955836300","https://openalex.org/W1965283609","https://openalex.org/W1977529588","https://openalex.org/W1985591162","https://openalex.org/W1986210471","https://openalex.org/W2008039125","https://openalex.org/W2008849842","https://openalex.org/W2011212189","https://openalex.org/W2014613416","https://openalex.org/W2019977544","https://openalex.org/W2021319009","https://openalex.org/W2023501470","https://openalex.org/W2024909108","https://openalex.org/W2030283526","https://openalex.org/W2037339449","https://openalex.org/W2040853177","https://openalex.org/W2044516721","https://openalex.org/W2044736816","https://openalex.org/W2048643991","https://openalex.org/W2057997563","https://openalex.org/W2058590852","https://openalex.org/W2064160401","https://openalex.org/W2068362404","https://openalex.org/W2070060013","https://openalex.org/W2070269852","https://openalex.org/W2077321821","https://openalex.org/W2080711264","https://openalex.org/W2092063564","https://openalex.org/W2095088638","https://openalex.org/W2106990484","https://openalex.org/W2110405746","https://openalex.org/W2117364466","https://openalex.org/W2118354937","https://openalex.org/W2123525300","https://openalex.org/W2127056864","https://openalex.org/W2127905631","https://openalex.org/W2132453268","https://openalex.org/W2136863984","https://openalex.org/W2138491947","https://openalex.org/W2158056901","https://openalex.org/W2162218518","https://openalex.org/W2164481380","https://openalex.org/W2165104493","https://openalex.org/W2166558756","https://openalex.org/W2175571621","https://openalex.org/W2225535111","https://openalex.org/W2229940056","https://openalex.org/W2284029970","https://openalex.org/W2295336320","https://openalex.org/W2338898812","https://openalex.org/W2349597558","https://openalex.org/W2413997045","https://openalex.org/W2467013119","https://openalex.org/W2513089571","https://openalex.org/W2551498100","https://openalex.org/W2567239141","https://openalex.org/W2757723727","https://openalex.org/W2775945648","https://openalex.org/W2778938958","https://openalex.org/W2783185291","https://openalex.org/W2808027946","https://openalex.org/W2890691917","https://openalex.org/W2911748184","https://openalex.org/W3099039688","https://openalex.org/W3122190729","https://openalex.org/W4240906056","https://openalex.org/W6697312496"],"related_works":["https://openalex.org/W4394954532","https://openalex.org/W4300110411","https://openalex.org/W3198882691","https://openalex.org/W2807379615","https://openalex.org/W2142525752","https://openalex.org/W4251533150","https://openalex.org/W4237787509","https://openalex.org/W1592798874","https://openalex.org/W2332067308","https://openalex.org/W2028594013"],"abstract_inverted_index":{"Autonomous":[0],"outdoor":[1,94,117],"navigation":[2,16,119,193],"requires":[3],"reliable":[4],"multisensory":[5],"fusion":[6],"strategies.":[7],"Desert":[8],"ants":[9,43],"travel":[10],"widely":[11],"every":[12],"day,":[13],"showing":[14],"unrivaled":[15],"performance":[17],"using":[18,125],"only":[19],"a":[20,61,122,172,235],"few":[21],"thousand":[22],"neurons.":[23],"In":[24],"the":[25,32,48,55,65,69,73,77,203],"desert,":[26],"pheromones":[27],"are":[28,103],"instantly":[29],"destroyed":[30],"by":[31,218],"extreme":[33],"heat.":[34],"To":[35],"navigate":[36],"safely":[37],"in":[38],"this":[39,154],"hostile":[40],"environment,":[41],"desert":[42],"assess":[44],"their":[45],"heading":[46],"from":[47],"polarized":[49,152],"pattern":[50],"of":[51,89,101,135,163,167,192,238],"skylight":[52],"and":[53,64,109,240],"judge":[54],"distance":[56],"traveled":[57],"based":[58],"on":[59,121],"both":[60],"stride-counting":[62],"method":[63],"optic":[66,183],"flow,":[67],"i.e.,":[68],"rate":[70],"at":[71],"which":[72,136,168],"ground":[74],"moves":[75],"across":[76],"eye.":[78],"This":[79],"process":[80],"is":[81],"called":[82],"path":[83],"integration":[84],"(PI).":[85],"Although":[86],"many":[87],"methods":[88,191],"endowing":[90],"mobile":[91],"robots":[92],"with":[93,130,149,234],"localization":[95],"have":[96],"been":[97],"developed":[98],"recently,":[99],"most":[100],"them":[102],"still":[104],"prone":[105],"to":[106,116,139,144,158,171,182,215,230],"considerable":[107],"drift":[108],"uncertainty.":[110],"We":[111],"tested":[112],"several":[113],"ant-inspired":[114,190,224],"solutions":[115],"homing":[118,199],"problems":[120],"legged":[123],"robot":[124],"two":[126,134,150,159],"optical":[127],"sensors":[128],"equipped":[129],"just":[131],"14":[132],"pixels,":[133],"were":[137,180],"dedicated":[138,181],"an":[140],"insect-inspired":[141],"compass":[142,155],"sensitive":[143],"ultraviolet":[145],"light.":[146],"When":[147],"combined":[148],"rotating":[151],"filters,":[153],"was":[156,169,206],"equivalent":[157],"costly":[160],"arrays":[161],"composed":[162],"374":[164],"photosensors,":[165],"each":[166],"tuned":[170],"specific":[173],"polarization":[174],"angle.":[175],"The":[176,197],"other":[177],"12":[178],"pixels":[179],"flow":[184],"measurements.":[185],"Results":[186],"show":[187,222],"that":[188,223],"our":[189],"give":[194],"precise":[195],"performances.":[196],"mean":[198],"error":[200],"recorded":[201],"during":[202],"overall":[204],"trajectory":[205],"as":[207,209],"small":[208],"0.67%":[210],"under":[211],"lighting":[212],"conditions":[213],"similar":[214],"those":[216],"encountered":[217],"ants.":[219],"These":[220],"findings":[221],"PI":[225],"strategies":[226],"can":[227],"be":[228],"used":[229],"complement":[231],"classical":[232],"techniques":[233],"high":[236],"level":[237],"robustness":[239],"efficiency.":[241]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":26},{"year":2024,"cited_by_count":24},{"year":2023,"cited_by_count":26},{"year":2022,"cited_by_count":35},{"year":2021,"cited_by_count":19},{"year":2020,"cited_by_count":27},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
