{"id":"https://openalex.org/W2037950885","doi":"https://doi.org/10.1145/2739480.2754731","title":"Novelty Search for Soft Robotic Space Exploration","display_name":"Novelty Search for Soft Robotic Space Exploration","publication_year":2015,"publication_date":"2015-07-07","ids":{"openalex":"https://openalex.org/W2037950885","doi":"https://doi.org/10.1145/2739480.2754731","mag":"2037950885"},"language":"en","primary_location":{"id":"doi:10.1145/2739480.2754731","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2739480.2754731","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2015 Annual Conference on Genetic and Evolutionary Computation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pure.uva.nl/ws/files/21848473/160023_EvolutionaryRoboticsGecco2015.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055801504","display_name":"Georgios Methenitis","orcid":"https://orcid.org/0000-0002-7828-0677"},"institutions":[{"id":"https://openalex.org/I1341640284","display_name":"Centrum Wiskunde & Informatica","ror":"https://ror.org/00x7ekv49","country_code":"NL","type":"facility","lineage":["https://openalex.org/I1341640284","https://openalex.org/I2800991832"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Georgios Methenitis","raw_affiliation_strings":["Centrum Wiskunde &amp; Informatica, Amsterdam, Netherlands"],"affiliations":[{"raw_affiliation_string":"Centrum Wiskunde &amp; Informatica, Amsterdam, Netherlands","institution_ids":["https://openalex.org/I1341640284"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043984392","display_name":"Daniel Hennes","orcid":"https://orcid.org/0000-0002-3646-5286"},"institutions":[{"id":"https://openalex.org/I44377176","display_name":"European Space Research and Technology Centre","ror":"https://ror.org/03h3jqn23","country_code":"NL","type":"government","lineage":["https://openalex.org/I2801994115","https://openalex.org/I44377176"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Daniel Hennes","raw_affiliation_strings":["European Space Agency, Noordwijk, Netherlands"],"affiliations":[{"raw_affiliation_string":"European Space Agency, Noordwijk, Netherlands","institution_ids":["https://openalex.org/I44377176"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020258120","display_name":"Dario Izzo","orcid":"https://orcid.org/0000-0002-9846-8423"},"institutions":[{"id":"https://openalex.org/I44377176","display_name":"European Space Research and Technology Centre","ror":"https://ror.org/03h3jqn23","country_code":"NL","type":"government","lineage":["https://openalex.org/I2801994115","https://openalex.org/I44377176"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Dario Izzo","raw_affiliation_strings":["European Space Agency, Noordwijk, Netherlands"],"affiliations":[{"raw_affiliation_string":"European Space Agency, Noordwijk, Netherlands","institution_ids":["https://openalex.org/I44377176"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085420075","display_name":"A. Visser","orcid":"https://orcid.org/0000-0002-7525-7017"},"institutions":[{"id":"https://openalex.org/I887064364","display_name":"University of Amsterdam","ror":"https://ror.org/04dkp9463","country_code":"NL","type":"education","lineage":["https://openalex.org/I887064364"]},{"id":"https://openalex.org/I4210135670","display_name":"Amsterdam University of the Arts","ror":"https://ror.org/04dde1554","country_code":"NL","type":"education","lineage":["https://openalex.org/I4210135670"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Arnoud Visser","raw_affiliation_strings":["University of Amsterdam, Amsterdam, Netherlands","university of Amsterdam, Amsterdam, Netherlands"],"affiliations":[{"raw_affiliation_string":"University of Amsterdam, Amsterdam, Netherlands","institution_ids":["https://openalex.org/I4210135670","https://openalex.org/I887064364"]},{"raw_affiliation_string":"university of Amsterdam, Amsterdam, Netherlands","institution_ids":["https://openalex.org/I4210135670"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5055801504"],"corresponding_institution_ids":["https://openalex.org/I1341640284"],"apc_list":null,"apc_paid":null,"fwci":3.1571,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.90682034,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"193","last_page":"200"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9993000030517578,"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":0.9993000030517578,"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/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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/novelty","display_name":"Novelty","score":0.7182872891426086},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6639909148216248},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6567242741584778},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6068432331085205},{"id":"https://openalex.org/keywords/evolutionary-robotics","display_name":"Evolutionary robotics","score":0.5615954399108887},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4833109378814697},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4521614611148834},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4102506637573242},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3359833061695099},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11103367805480957}],"concepts":[{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.7182872891426086},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6639909148216248},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6567242741584778},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6068432331085205},{"id":"https://openalex.org/C199505168","wikidata":"https://www.wikidata.org/wiki/Q3267529","display_name":"Evolutionary robotics","level":3,"score":0.5615954399108887},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4833109378814697},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4521614611148834},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4102506637573242},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3359833061695099},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11103367805480957},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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},{"id":"https://openalex.org/C27206212","wikidata":"https://www.wikidata.org/wiki/Q34178","display_name":"Theology","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1145/2739480.2754731","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2739480.2754731","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2015 Annual Conference on Genetic and Evolutionary Computation","raw_type":"proceedings-article"},{"id":"pmh:oai:dare.uva.nl:openaire/2202ee45-2323-464f-88f0-f9c880f561ab","is_oa":true,"landing_page_url":"https://handle.uba.uva.nl/personal/pure/en/publications/novelty-search-for-soft-robotic-space-exploration(2202ee45-2323-464f-88f0-f9c880f561ab).html","pdf_url":"https://pure.uva.nl/ws/files/21848473/160023_EvolutionaryRoboticsGecco2015.pdf","source":{"id":"https://openalex.org/S4306400088","display_name":"UvA-DARE (University of Amsterdam)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887064364","host_organization_name":"University of Amsterdam","host_organization_lineage":["https://openalex.org/I887064364"],"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":"Methenitis, G, Hennes, D, Izzo, D & Visser, A 2015, Novelty Search for Soft Robotic Space Exploration. in GECCO '15 : proceedings of the 2015 Genetic and Evolutionary Computation Conference : July 11-15, 2015, Madrid, Spain . New York, pp. 193-200, Genetic and Evolutionary Computation Conference (GECCO '15), 11/07/15. https://doi.org/10.1145/2739480.2754731","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:cwi:oai:cwi.nl:23805","is_oa":true,"landing_page_url":"https://ir.cwi.nl/pub/23805","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"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":"","raw_type":"info:eu-repo/semantics/conferencepaper"},{"id":"pmh:oai:dare.uva.nl:publications/2202ee45-2323-464f-88f0-f9c880f561ab","is_oa":false,"landing_page_url":"http://dare.uva.nl/personal/pure/en/publications/novelty-search-for-soft-robotic-space-exploration(2202ee45-2323-464f-88f0-f9c880f561ab).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400088","display_name":"UvA-DARE (University of Amsterdam)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887064364","host_organization_name":"University of Amsterdam","host_organization_lineage":["https://openalex.org/I887064364"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:uvapub:oai:dare.uva.nl:publications/2202ee45-2323-464f-88f0-f9c880f561ab","is_oa":true,"landing_page_url":"https://dare.uva.nl/personal/pure/en/publications/novelty-search-for-soft-robotic-space-exploration(2202ee45-2323-464f-88f0-f9c880f561ab).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"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":"GECCO '15: proceedings of the 2015 Genetic and Evolutionary Computation Conference : July 11-15, 2015, Madrid, Spain, 193 - 200","raw_type":"info:eu-repo/semantics/conferencepaper"}],"best_oa_location":{"id":"pmh:oai:dare.uva.nl:openaire/2202ee45-2323-464f-88f0-f9c880f561ab","is_oa":true,"landing_page_url":"https://handle.uba.uva.nl/personal/pure/en/publications/novelty-search-for-soft-robotic-space-exploration(2202ee45-2323-464f-88f0-f9c880f561ab).html","pdf_url":"https://pure.uva.nl/ws/files/21848473/160023_EvolutionaryRoboticsGecco2015.pdf","source":{"id":"https://openalex.org/S4306400088","display_name":"UvA-DARE (University of Amsterdam)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887064364","host_organization_name":"University of Amsterdam","host_organization_lineage":["https://openalex.org/I887064364"],"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":"Methenitis, G, Hennes, D, Izzo, D & Visser, A 2015, Novelty Search for Soft Robotic Space Exploration. in GECCO '15 : proceedings of the 2015 Genetic and Evolutionary Computation Conference : July 11-15, 2015, Madrid, Spain . New York, pp. 193-200, Genetic and Evolutionary Computation Conference (GECCO '15), 11/07/15. https://doi.org/10.1145/2739480.2754731","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2037950885.pdf"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W61729823","https://openalex.org/W120361141","https://openalex.org/W1658991353","https://openalex.org/W1944876863","https://openalex.org/W1983449914","https://openalex.org/W2003653926","https://openalex.org/W2020399841","https://openalex.org/W2099746672","https://openalex.org/W2111935653","https://openalex.org/W2117085697","https://openalex.org/W2120652436","https://openalex.org/W2138817206","https://openalex.org/W2141905643","https://openalex.org/W2150333870","https://openalex.org/W2151083897","https://openalex.org/W2154022540","https://openalex.org/W2156218502","https://openalex.org/W2184809872","https://openalex.org/W2317952415","https://openalex.org/W3025618098","https://openalex.org/W4244367163"],"related_works":["https://openalex.org/W2381242807","https://openalex.org/W3126131230","https://openalex.org/W2347541121","https://openalex.org/W2080951048","https://openalex.org/W4288804799","https://openalex.org/W3032237421","https://openalex.org/W2049953310","https://openalex.org/W4243658538","https://openalex.org/W2492394916","https://openalex.org/W2470534575"],"abstract_inverted_index":{"The":[0,83],"use":[1,84,111,176],"of":[2,85,112,154,160,185,195,205],"soft":[3,64,186],"robots":[4,19,57,187],"in":[5,36,63,80,127,166,202],"future":[6],"space":[7],"exploration":[8],"is":[9],"still":[10],"a":[11,113,145,151,158,171,193],"far-fetched":[12],"idea,":[13],"but":[14],"an":[15],"attractive":[16],"one.":[17],"Soft":[18],"are":[20,25,200],"inherently":[21],"compliant":[22],"mechanisms":[23],"that":[24,199],"well":[26],"suited":[27],"for":[28,55],"locomotion":[29,53,78,197],"on":[30,40,105],"rough":[31],"terrain":[32],"as":[33,88,139,141],"often":[34],"faced":[35],"extra-planetary":[37],"environments.":[38],"Depending":[39],"the":[41,46,70,75,110,117,161,181,203],"particular":[42],"application":[43],"and":[44,52,66,77,91,124,131,183],"requirements,":[45],"best":[47],"shape":[48],"(or":[49],"body":[50],"morphology)":[51],"strategy":[54,79],"such":[56,87],"will":[58],"vary":[59],"substantially.":[60],"Recent":[61],"developments":[62],"robotics":[65],"evolutionary":[67],"optimization":[68],"showed":[69],"possibility":[71],"to":[72,96,137,169,179],"simultaneously":[73],"evolve":[74,180],"morphology":[76,184],"simulated":[81],"trials.":[82],"techniques":[86,163],"generative":[89],"encoding":[90],"neural":[92],"evolution":[93,118],"were":[94],"key":[95],"these":[97],"findings.":[98],"In":[99],"this":[100,106],"paper,":[101],"we":[102,132],"improve":[103],"further":[104,172],"methodology":[107,178],"by":[108],"introducing":[109],"novelty":[114,125,167],"measure":[115],"during":[116],"process.":[119],"We":[120,156,174],"compare":[121],"fitness":[122],"search":[123,126,136,168],"different":[128,189],"gravity":[129,190],"levels":[130],"consistently":[133],"find":[134],"novelty-based":[135],"perform":[138],"good":[140],"or":[142],"better":[143],"than":[144],"fitness--based":[146],"search,":[147],"while":[148],"also":[149],"delivering":[150],"greater":[152],"variety":[153],"designs.":[155],"propose":[157],"combination":[159],"two":[162],"using":[164],"fitness-elitism":[165],"obtain":[170],"improvement.":[173],"then":[175],"our":[177],"gait":[182],"at":[188],"levels,":[191],"finding":[192],"taxonomy":[194],"possible":[196],"strategies":[198],"analyzed":[201],"context":[204],"space-exploration.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4}],"updated_date":"2026-03-17T17:19:04.345684","created_date":"2025-10-10T00:00:00"}
