{"id":"https://openalex.org/W1913603026","doi":"https://doi.org/10.1145/3060272","title":"Plane Formation by Synchronous Mobile Robots in the Three-Dimensional Euclidean Space","display_name":"Plane Formation by Synchronous Mobile Robots in the Three-Dimensional Euclidean Space","publication_year":2017,"publication_date":"2017-06-16","ids":{"openalex":"https://openalex.org/W1913603026","doi":"https://doi.org/10.1145/3060272","mag":"1913603026"},"language":"en","primary_location":{"id":"doi:10.1145/3060272","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3060272","pdf_url":null,"source":{"id":"https://openalex.org/S118992489","display_name":"Journal of the ACM","issn_l":"0004-5411","issn":["0004-5411","1557-735X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of the ACM","raw_type":"journal-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/A5103763741","display_name":"Yukiko Yamauchi","orcid":"https://orcid.org/0009-0009-8459-6676"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yukiko Yamauchi","raw_affiliation_strings":["Kyushu University, Fukuoka, Japan"],"affiliations":[{"raw_affiliation_string":"Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112443895","display_name":"Taichi Uehara","orcid":null},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Taichi Uehara","raw_affiliation_strings":["Kyushu University, Fukuoka, Japan"],"affiliations":[{"raw_affiliation_string":"Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050611028","display_name":"Shuji Kijima","orcid":"https://orcid.org/0000-0001-6061-2330"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shuji Kijima","raw_affiliation_strings":["Kyushu University, Fukuoka, Japan"],"affiliations":[{"raw_affiliation_string":"Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111575379","display_name":"Masafumi Yamashita","orcid":null},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masafumi Yamashita","raw_affiliation_strings":["Kyushu University, Fukuoka, Japan"],"affiliations":[{"raw_affiliation_string":"Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103763741"],"corresponding_institution_ids":["https://openalex.org/I135598925"],"apc_list":null,"apc_paid":null,"fwci":5.3872,"has_fulltext":false,"cited_by_count":58,"citation_normalized_percentile":{"value":0.96161774,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"64","issue":"3","first_page":"1","last_page":"43"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","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/T12288","display_name":"Optimization and Search Problems","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":0.9988999962806702,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9836000204086304,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6986796855926514},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.6426799893379211},{"id":"https://openalex.org/keywords/polyhedron","display_name":"Polyhedron","score":0.6336721777915955},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5486963987350464},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.543727457523346},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.5345124006271362},{"id":"https://openalex.org/keywords/euclidean-geometry","display_name":"Euclidean geometry","score":0.4580908715724945},{"id":"https://openalex.org/keywords/euclidean-space","display_name":"Euclidean space","score":0.450504332780838},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.42481929063796997},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.36198610067367554},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3381578326225281},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.260429710149765},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.23917874693870544},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.17837664484977722}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6986796855926514},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.6426799893379211},{"id":"https://openalex.org/C54829058","wikidata":"https://www.wikidata.org/wiki/Q172937","display_name":"Polyhedron","level":2,"score":0.6336721777915955},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5486963987350464},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.543727457523346},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.5345124006271362},{"id":"https://openalex.org/C129782007","wikidata":"https://www.wikidata.org/wiki/Q162886","display_name":"Euclidean geometry","level":2,"score":0.4580908715724945},{"id":"https://openalex.org/C186450821","wikidata":"https://www.wikidata.org/wiki/Q17295","display_name":"Euclidean space","level":2,"score":0.450504332780838},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.42481929063796997},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.36198610067367554},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3381578326225281},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.260429710149765},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.23917874693870544},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.17837664484977722}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3060272","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3060272","pdf_url":null,"source":{"id":"https://openalex.org/S118992489","display_name":"Journal of the ACM","issn_l":"0004-5411","issn":["0004-5411","1557-735X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of the ACM","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W69992989","https://openalex.org/W165941911","https://openalex.org/W627224437","https://openalex.org/W1016708617","https://openalex.org/W1479990946","https://openalex.org/W1505903085","https://openalex.org/W1567034568","https://openalex.org/W1802748673","https://openalex.org/W1975531816","https://openalex.org/W1980710447","https://openalex.org/W1988782771","https://openalex.org/W2006833310","https://openalex.org/W2010017329","https://openalex.org/W2019654546","https://openalex.org/W2041571902","https://openalex.org/W2044484214","https://openalex.org/W2049232787","https://openalex.org/W2078130991","https://openalex.org/W2087073465","https://openalex.org/W2089118805","https://openalex.org/W2097569568","https://openalex.org/W2108943074","https://openalex.org/W2111132249","https://openalex.org/W2124068769","https://openalex.org/W2136023420","https://openalex.org/W2479245577","https://openalex.org/W2548420227","https://openalex.org/W3182674124","https://openalex.org/W4246461308"],"related_works":["https://openalex.org/W2289965647","https://openalex.org/W4294294347","https://openalex.org/W2145396827","https://openalex.org/W2279239548","https://openalex.org/W115379796","https://openalex.org/W63976795","https://openalex.org/W2404658402","https://openalex.org/W2610298398","https://openalex.org/W4281992692","https://openalex.org/W2105228010"],"abstract_inverted_index":{"Creating":[0],"a":[1,18,35,48,127,168,180,187],"swarm":[2,36],"of":[3,37,77,87,151,158,172],"mobile":[4],"computing":[5],"entities,":[6],"frequently":[7],"called":[8],"robots,":[9],"agents,":[10],"or":[11],"sensor":[12],"nodes,":[13],"with":[14,58,80],"self-organization":[15],"ability":[16],"is":[17,113,161,192],"contemporary":[19],"challenge":[20],"in":[21,40,95,119],"distributed":[22],"computing.":[23],"Motivated":[24],"by":[25],"this,":[26],"we":[27],"investigate":[28],"the":[29,41,70,90,96,101,105,114,120,138,149,159,173],"plane":[30,139,169,181],"formation":[31,103,107,140],"problem":[32,92,141],"that":[33,142],"requires":[34],"robots":[38,52,94,118,135,165],"moving":[39],"three-dimensional":[42,121],"Euclidean":[43],"space":[44,122],"to":[45,69,136,195],"land":[46],"on":[47,89,146],"common":[49],"plane.":[50],"The":[51,164],"are":[53,85],"fully":[54,133],"synchronous":[55,134],"and":[56,109,129],"endowed":[57],"visual":[59],"perception.":[60],"But":[61],"they":[62,177],"do":[63],"not":[64,144],"have":[65],"identifiers,":[66],"nor":[67,74],"access":[68],"global":[71],"coordinate":[72],"system,":[73],"any":[75,199],"means":[76],"explicit":[78],"communication":[79],"each":[81],"other.":[82],"Though":[83],"there":[84],"plenty":[86],"results":[88],"agreement":[91],"for":[93,99,117,132],"two-dimensional":[97],"plane,":[98],"example,":[100],"point":[102],"problem,":[104,108],"pattern":[106],"so":[110],"on,":[111],"this":[112],"first":[115],"result":[116,160],".":[123],"This":[124],"article":[125],"presents":[126],"necessary":[128],"sufficient":[130],"condition":[131],"solve":[137],"does":[143],"depend":[145],"obliviousness,":[147],"i.e.,":[148],"availability":[150],"local":[152],"memory":[153],"at":[154],"robots.":[155],"An":[156],"implication":[157],"somewhat":[162],"counter-intuitive:":[163],"cannot":[166],"form":[167,179],"from":[170,182],"most":[171],"semi-regular":[174,200],"polyhedra,":[175],"while":[176],"can":[178],"every":[183],"regular":[184,188],"polyhedron":[185],"(except":[186],"icosahedron),":[189],"whose":[190],"symmetry":[191],"usually":[193],"considered":[194],"be":[196],"higher":[197],"than":[198],"polyhedron.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
