{"id":"https://openalex.org/W2169855920","doi":"https://doi.org/10.1145/2157689.2157704","title":"Towards human control of robot swarms","display_name":"Towards human control of robot swarms","publication_year":2012,"publication_date":"2012-03-05","ids":{"openalex":"https://openalex.org/W2169855920","doi":"https://doi.org/10.1145/2157689.2157704","mag":"2169855920"},"language":"en","primary_location":{"id":"doi:10.1145/2157689.2157704","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2157689.2157704","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://d-scholarship.pitt.edu/12386/1/hri-12.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086675026","display_name":"Andreas Kolling","orcid":"https://orcid.org/0000-0002-2679-9821"},"institutions":[{"id":"https://openalex.org/I170201317","display_name":"University of Pittsburgh","ror":"https://ror.org/01an3r305","country_code":"US","type":"education","lineage":["https://openalex.org/I170201317"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Andreas Kolling","raw_affiliation_strings":["University of Pittsburgh, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"University of Pittsburgh, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I170201317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113699157","display_name":"Steven Nunnally","orcid":null},"institutions":[{"id":"https://openalex.org/I170201317","display_name":"University of Pittsburgh","ror":"https://ror.org/01an3r305","country_code":"US","type":"education","lineage":["https://openalex.org/I170201317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steven Nunnally","raw_affiliation_strings":["University of Pittsburgh, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"University of Pittsburgh, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I170201317"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057603259","display_name":"Michael Lewis","orcid":"https://orcid.org/0000-0002-1013-9482"},"institutions":[{"id":"https://openalex.org/I170201317","display_name":"University of Pittsburgh","ror":"https://ror.org/01an3r305","country_code":"US","type":"education","lineage":["https://openalex.org/I170201317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Lewis","raw_affiliation_strings":["University of Pittsburgh, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"University of Pittsburgh, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I170201317"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5086675026"],"corresponding_institution_ids":["https://openalex.org/I170201317"],"apc_list":null,"apc_paid":null,"fwci":10.0582,"has_fulltext":true,"cited_by_count":79,"citation_normalized_percentile":{"value":0.98426119,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"89","last_page":"96"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":1.0,"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":0.9976000189781189,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9891999959945679,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/swarm-behaviour","display_name":"Swarm behaviour","score":0.8064529895782471},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.7712013125419617},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7303426265716553},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.6866981983184814},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.666183590888977},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6622936725616455},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.6155745387077332},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.4859417676925659},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4157432019710541},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4092869758605957},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3879380226135254}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.8064529895782471},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.7712013125419617},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7303426265716553},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.6866981983184814},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.666183590888977},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6622936725616455},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.6155745387077332},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.4859417676925659},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4157432019710541},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4092869758605957},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3879380226135254},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1145/2157689.2157704","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2157689.2157704","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction","raw_type":"proceedings-article"},{"id":"pmh:oai:d-scholarship.pitt.edu:12386","is_oa":true,"landing_page_url":"https://d-scholarship.pitt.edu/12386/8/licence.txt","pdf_url":"http://d-scholarship.pitt.edu/12386/1/hri-12.pdf","source":{"id":"https://openalex.org/S4306402372","display_name":"D-Scholarship@Pitt (University of Pittsburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I170201317","host_organization_name":"University of Pittsburgh","host_organization_lineage":["https://openalex.org/I170201317"],"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":"PeerReviewed"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.464.1538","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.464.1538","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://d-scholarship.pitt.edu/12386/1/hri-12.pdf","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:d-scholarship.pitt.edu:12386","is_oa":true,"landing_page_url":"https://d-scholarship.pitt.edu/12386/8/licence.txt","pdf_url":"http://d-scholarship.pitt.edu/12386/1/hri-12.pdf","source":{"id":"https://openalex.org/S4306402372","display_name":"D-Scholarship@Pitt (University of Pittsburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I170201317","host_organization_name":"University of Pittsburgh","host_organization_lineage":["https://openalex.org/I170201317"],"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":"PeerReviewed"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2169855920.pdf","grobid_xml":"https://content.openalex.org/works/W2169855920.grobid-xml"},"referenced_works_count":11,"referenced_works":["https://openalex.org/W6496403","https://openalex.org/W77130544","https://openalex.org/W1788292158","https://openalex.org/W1993849817","https://openalex.org/W2111429380","https://openalex.org/W2116354196","https://openalex.org/W2118389263","https://openalex.org/W2137642864","https://openalex.org/W2164218066","https://openalex.org/W2167485994","https://openalex.org/W2401045078"],"related_works":["https://openalex.org/W1550790738","https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W65954170","https://openalex.org/W1988876749","https://openalex.org/W2518382144","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166","https://openalex.org/W2787547275"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"investigate":[4],"principles":[5,63],"of":[6,22,48,50,83,100,129,175,181],"swarm":[7,77,118,156],"control":[8,19,145,183,194],"that":[9,33],"enable":[10],"a":[11,56,67,75,81,98,153,189],"human":[12,138],"operator":[13],"to":[14,37,90,112,134,152,159,162,167,195],"exert":[15,72],"influence":[16,58,73],"on":[17,59,74],"and":[18,30,40,114,123,151,165,187],"large":[20],"swarms":[21,177],"robots.":[23,61],"We":[24],"present":[25],"two":[26],"principles,":[27],"coined":[28],"selection":[29,47,142,182],"beacon":[31,144,193],"control,":[32],"differ":[34],"with":[35,106,126,137,148,157],"respect":[36],"their":[38],"temporal":[39],"spatial":[41],"persistence.":[42],"The":[43,116],"former":[44],"requires":[45],"active":[46],"groups":[49],"robots":[51,130],"while":[52],"the":[53,127],"latter":[54],"exerts":[55],"passive":[57],"nearby":[60],"Both":[62],"are":[64,146],"implemented":[65],"in":[66,69,97,104,178,184],"testbed":[68],"which":[70],"operators":[71,139],"robot":[76],"by":[78],"switching":[79],"between":[80],"set":[82],"behaviors":[84,88],"ranging":[85,109,131],"from":[86,110,132],"trivial":[87],"up":[89],"distributed":[91],"autonomous":[92,155,176],"algorithms.":[93],"Performance":[94],"is":[95],"tested":[96],"series":[99],"complex":[101,163,185],"foraging":[102],"tasks":[103],"environments":[105],"different":[107],"obstacles":[108],"open":[111,179],"cluttered":[113],"structured.":[115],"robotic":[117],"has":[119],"only":[120],"local":[121],"communication":[122],"sensing":[124],"capabilities":[125],"number":[128],"50":[133],"200.":[135],"Experiments":[136],"utilizing":[140],"either":[141],"or":[143],"compared":[147],"each":[149],"other":[150],"simple":[154],"regard":[158],"performance,":[160],"adaptation":[161],"environments,":[164,180,186],"scalability":[166],"larger":[168,196],"swarms.":[169,197],"Our":[170],"results":[171],"show":[172],"superior":[173],"performance":[174],"indicate":[188],"potential":[190],"for":[191],"scaling":[192]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":9}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
