{"id":"https://openalex.org/W4384024042","doi":"https://doi.org/10.1145/3583131.3590419","title":"A Fully-distributed Shape-aware Neural Controller for Modular Robots","display_name":"A Fully-distributed Shape-aware Neural Controller for Modular Robots","publication_year":2023,"publication_date":"2023-07-12","ids":{"openalex":"https://openalex.org/W4384024042","doi":"https://doi.org/10.1145/3583131.3590419"},"language":"en","primary_location":{"id":"doi:10.1145/3583131.3590419","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3583131.3590419","pdf_url":null,"source":{"id":"https://openalex.org/S4363608932","display_name":"Proceedings of the Genetic and Evolutionary Computation Conference","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Genetic and Evolutionary Computation Conference","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/A5060709308","display_name":"Giorgia Nadizar","orcid":"https://orcid.org/0000-0002-3535-9748"},"institutions":[{"id":"https://openalex.org/I142444530","display_name":"University of Trieste","ror":"https://ror.org/02n742c10","country_code":"IT","type":"education","lineage":["https://openalex.org/I142444530"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Giorgia Nadizar","raw_affiliation_strings":["Department of Mathematics and Geosciences, University of Trieste, Trieste, Italy"],"raw_orcid":"https://orcid.org/0000-0002-3535-9748","affiliations":[{"raw_affiliation_string":"Department of Mathematics and Geosciences, University of Trieste, Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074055647","display_name":"Eric Medvet","orcid":"https://orcid.org/0000-0001-5652-2113"},"institutions":[{"id":"https://openalex.org/I142444530","display_name":"University of Trieste","ror":"https://ror.org/02n742c10","country_code":"IT","type":"education","lineage":["https://openalex.org/I142444530"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Eric Medvet","raw_affiliation_strings":["Department of Engineering and Architecture, University of Trieste, Trieste, Italy"],"raw_orcid":"https://orcid.org/0000-0001-5652-2113","affiliations":[{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101573267","display_name":"Kathryn Walker","orcid":"https://orcid.org/0000-0002-5108-5791"},"institutions":[{"id":"https://openalex.org/I83467386","display_name":"IT University of Copenhagen","ror":"https://ror.org/02309jg23","country_code":"DK","type":"education","lineage":["https://openalex.org/I83467386"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Kathryn Walker","raw_affiliation_strings":["IT University Copenhagen, Copenhagen, Denmark"],"raw_orcid":"https://orcid.org/0000-0002-5108-5791","affiliations":[{"raw_affiliation_string":"IT University Copenhagen, Copenhagen, Denmark","institution_ids":["https://openalex.org/I83467386"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020511097","display_name":"Sebastian Risi","orcid":"https://orcid.org/0000-0003-3607-8400"},"institutions":[{"id":"https://openalex.org/I83467386","display_name":"IT University of Copenhagen","ror":"https://ror.org/02309jg23","country_code":"DK","type":"education","lineage":["https://openalex.org/I83467386"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Sebastian Risi","raw_affiliation_strings":["IT University Copenhagen, Copenhagen, Denmark"],"raw_orcid":"https://orcid.org/0000-0003-3607-8400","affiliations":[{"raw_affiliation_string":"IT University Copenhagen, Copenhagen, Denmark","institution_ids":["https://openalex.org/I83467386"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5060709308"],"corresponding_institution_ids":["https://openalex.org/I142444530"],"apc_list":null,"apc_paid":null,"fwci":5.7896,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.98219814,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"184","last_page":"192"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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":0.9998999834060669,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9908000230789185,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.7458062767982483},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7429212331771851},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7163656949996948},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7158864736557007},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6014747023582458},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.5732417106628418},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.5023736953735352},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41779959201812744},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.4145069718360901},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4011848270893097},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.33764487504959106},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.26679232716560364},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.22033914923667908},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17356449365615845}],"concepts":[{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.7458062767982483},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7429212331771851},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7163656949996948},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7158864736557007},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6014747023582458},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.5732417106628418},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.5023736953735352},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41779959201812744},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.4145069718360901},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4011848270893097},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.33764487504959106},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26679232716560364},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.22033914923667908},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17356449365615845},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3583131.3590419","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3583131.3590419","pdf_url":null,"source":{"id":"https://openalex.org/S4363608932","display_name":"Proceedings of the Genetic and Evolutionary Computation Conference","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Genetic and Evolutionary Computation Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8299999833106995,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1983449914","https://openalex.org/W2001685400","https://openalex.org/W2727037355","https://openalex.org/W2727901370","https://openalex.org/W2745286470","https://openalex.org/W2759284426","https://openalex.org/W2761821043","https://openalex.org/W2963360916","https://openalex.org/W3040545976","https://openalex.org/W3047894871","https://openalex.org/W3080453421","https://openalex.org/W3087504778","https://openalex.org/W3174332297","https://openalex.org/W3176233376","https://openalex.org/W3199523722","https://openalex.org/W3212580602","https://openalex.org/W4223926364","https://openalex.org/W4226229891","https://openalex.org/W4226448848","https://openalex.org/W4281764016","https://openalex.org/W4285805333","https://openalex.org/W4313152310","https://openalex.org/W6713134421"],"related_works":["https://openalex.org/W2963148304","https://openalex.org/W4386781757","https://openalex.org/W2554741953","https://openalex.org/W2064761790","https://openalex.org/W2247893165","https://openalex.org/W3158732870","https://openalex.org/W2101970395","https://openalex.org/W1983823126","https://openalex.org/W3210322278","https://openalex.org/W2116018944"],"abstract_inverted_index":{"Modular":[0],"robots":[1],"are":[2,29],"promising":[3],"for":[4,56,121,129,136],"their":[5],"versatility":[6],"and":[7,17,31,124,157,172],"large":[8],"design":[9],"freedom.":[10],"Modularity":[11],"can":[12,39,177],"also":[13,173],"enable":[14],"automatic":[15],"assembly":[16,186],"reconfiguration,":[18],"be":[19,178],"it":[20,92,176],"autonomous":[21],"or":[22,185],"via":[23],"external":[24],"machinery.":[25],"However,":[26],"these":[27],"procedures":[28],"error-prone":[30],"often":[32],"result":[33],"in":[34,37,51,84],"misassemblings.":[35],"This,":[36],"turn,":[38],"cause":[40],"catastrophic":[41],"effects":[42],"on":[43],"the":[44,48,62,90,104,111,141,144,158,165],"robot":[45,59],"functionality,":[46],"as":[47],"controller":[49,88,105,134,170],"deployed":[50],"each":[52,86],"module":[53,87],"is":[54,93],"optimized":[55],"a":[57,74,81,99,116,131,151,169],"different":[58],"shape":[60,91],"than":[61],"actual":[63],"one.":[64],"In":[65],"this":[66],"work,":[67],"we":[68,125],"address":[69],"such":[70,168],"shortcoming":[71],"by":[72,97],"proposing":[73],"shape-aware":[75],"modular":[76,154],"controller,":[77],"operating":[78],"with":[79],"(1)":[80],"self-discovery":[82],"phase,":[83,102],"which":[85],"identifies":[89],"assembled":[94],"in,":[95],"followed":[96],"(2)":[98],"parameter":[100],"selection":[101],"where":[103],"selects":[106],"its":[107],"parameters":[108,135],"according":[109],"to":[110,180],"inferred":[112],"shape.":[113],"We":[114,139],"deploy":[115],"self-classifying":[117],"neural":[118],"cellular":[119],"automaton":[120],"phase":[122,137],"(1),":[123],"leverage":[126],"evolutionary":[127],"optimization":[128],"implementing":[130],"library":[132],"of":[133,143,153,160,167],"(2).":[138],"test":[140],"validity":[142],"proposed":[145],"method":[146],"considering":[147],"voxel-based":[148],"soft":[149,155],"robots,":[150,156],"class":[152],"task":[159],"locomotion.":[161],"Our":[162],"findings":[163],"confirm":[164],"effectiveness":[166],"paradigm,":[171],"show":[174],"that":[175],"used":[179],"partially":[181],"overcome":[182],"unforeseen":[183],"damages":[184],"mistakes.":[187]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
