{"id":"https://openalex.org/W2140118420","doi":"https://doi.org/10.1145/1569901.1570002","title":"Evolving symmetric and modular neural networks for distributed control","display_name":"Evolving symmetric and modular neural networks for distributed control","publication_year":2009,"publication_date":"2009-07-08","ids":{"openalex":"https://openalex.org/W2140118420","doi":"https://doi.org/10.1145/1569901.1570002","mag":"2140118420"},"language":"en","primary_location":{"id":"doi:10.1145/1569901.1570002","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1569901.1570002","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 11th Annual conference on Genetic and evolutionary computation","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/A5027713833","display_name":"Vinod K. Valsalam","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Vinod K. Valsalam","raw_affiliation_strings":["The University of Texas at Austin, Austin, TX, USA","The University of Texas At Austin, Austin, TX, USA"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"The University of Texas At Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020441009","display_name":"Risto Miikkulainen","orcid":"https://orcid.org/0000-0002-0062-0037"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Risto Miikkulainen","raw_affiliation_strings":["The University of Texas at Austin, Austin, TX, USA","The University of Texas At Austin, Austin, TX, USA"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"The University of Texas At Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5027713833"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":3.6041,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.93307271,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"731","last_page":"738"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.9932000041007996,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7811875343322754},{"id":"https://openalex.org/keywords/modularity","display_name":"Modularity (biology)","score":0.7581126093864441},{"id":"https://openalex.org/keywords/homogeneous-space","display_name":"Homogeneous space","score":0.7148001194000244},{"id":"https://openalex.org/keywords/symmetry","display_name":"Symmetry (geometry)","score":0.6728342771530151},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6018998026847839},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3608681559562683},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.35801368951797485},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23984643816947937},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10305863618850708}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7811875343322754},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.7581126093864441},{"id":"https://openalex.org/C96469262","wikidata":"https://www.wikidata.org/wiki/Q1324364","display_name":"Homogeneous space","level":2,"score":0.7148001194000244},{"id":"https://openalex.org/C2779886137","wikidata":"https://www.wikidata.org/wiki/Q21030012","display_name":"Symmetry (geometry)","level":2,"score":0.6728342771530151},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6018998026847839},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3608681559562683},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.35801368951797485},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23984643816947937},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10305863618850708},{"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/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/1569901.1570002","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1569901.1570002","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 11th Annual conference on Genetic and evolutionary computation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.650.81","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.650.81","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.utexas.edu/users/ai-lab/pubs/valsalam.gecco09.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W106550765","https://openalex.org/W136681501","https://openalex.org/W165295313","https://openalex.org/W1542529647","https://openalex.org/W1546662014","https://openalex.org/W1994530392","https://openalex.org/W2020399841","https://openalex.org/W2046806944","https://openalex.org/W2083694019","https://openalex.org/W2106433364","https://openalex.org/W2113343797","https://openalex.org/W2119814172","https://openalex.org/W2122482254","https://openalex.org/W2127197749","https://openalex.org/W2136718483","https://openalex.org/W2138321920","https://openalex.org/W2153684665","https://openalex.org/W2158833498","https://openalex.org/W2169803171","https://openalex.org/W4210858743","https://openalex.org/W6679071302"],"related_works":["https://openalex.org/W2297768894","https://openalex.org/W2378076731","https://openalex.org/W3109014690","https://openalex.org/W2122405502","https://openalex.org/W2114254072","https://openalex.org/W2127721729","https://openalex.org/W2884798239","https://openalex.org/W1531253727","https://openalex.org/W2366669483","https://openalex.org/W2333635112"],"abstract_inverted_index":{"Problems":[0],"such":[1,43,134],"as":[2,95,97,156,158],"the":[3,15,91,113],"design":[4],"of":[5,35,48,125],"distributed":[6,153],"controllers":[7,79,93,135],"are":[8,21,94,104,116],"characterized":[9],"by":[10,77],"modularity":[11],"and":[12,38,50,53,60,149],"symmetry.":[13,72],"However,":[14,102],"symmetries":[16,115],"useful":[17],"for":[18,62,80,146],"solving":[19],"them":[20],"often":[22],"difficult":[23,117],"to":[24,41,57,118,152],"determine":[25,119],"analytically.":[26],"This":[27,73],"paper":[28],"presents":[29],"a":[30,81,143],"nature-inspired":[31],"approach":[32,74,145],"called":[33],"Evolution":[34],"Network":[36],"Symmetry":[37],"mOdularity":[39],"(ENSO)":[40],"solve":[42],"problems.":[44],"It":[45],"abstracts":[46],"properties":[47],"generative":[49],"developmental":[51],"systems,":[52],"utilizes":[54],"group":[55],"theory":[56],"represent":[58],"symmetry":[59,123,138],"search":[61],"it":[63,66],"systematically,":[64],"making":[65],"more":[67,130],"evolvable":[68],"than":[69,136],"randomly":[70],"mutating":[71],"is":[75,142],"evaluated":[76],"evolving":[78,133,147],"quadruped":[82],"robot":[83],"in":[84,161],"physically":[85],"realistic":[86],"simulations.":[87],"On":[88],"flat":[89],"ground,":[90,111],"resulting":[92],"effective":[96,131],"those":[98],"having":[99],"hand-designed":[100],"symmetries.":[101],"they":[103],"significantly":[105,129],"faster":[106],"when":[107],"evolved":[108],"on":[109],"inclined":[110],"where":[112],"appropriate":[114],"manually.":[120],"The":[121],"group-theoretic":[122],"mutations":[124],"ENSO":[126,141],"were":[127],"also":[128],"at":[132],"random":[137],"mutations.":[139],"Thus,":[140],"promising":[144],"modular":[148],"symmetric":[150],"solutions":[151],"control":[154],"problems,":[155],"well":[157],"multiagent":[159],"systems":[160],"general.":[162]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}