{"id":"https://openalex.org/W3015945413","doi":"https://doi.org/10.1162/artl_a_00317","title":"Decentralized Control for Swarm Robots That Can Effectively Execute Spatially Distributed Tasks","display_name":"Decentralized Control for Swarm Robots That Can Effectively Execute Spatially Distributed Tasks","publication_year":2020,"publication_date":"2020-04-09","ids":{"openalex":"https://openalex.org/W3015945413","doi":"https://doi.org/10.1162/artl_a_00317","mag":"3015945413","pmid":"https://pubmed.ncbi.nlm.nih.gov/32271634"},"language":"en","primary_location":{"id":"doi:10.1162/artl_a_00317","is_oa":false,"landing_page_url":"https://doi.org/10.1162/artl_a_00317","pdf_url":null,"source":{"id":"https://openalex.org/S2181302","display_name":"Artificial Life","issn_l":"1064-5462","issn":["1064-5462","1530-9185"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315718","host_organization_name":"The MIT Press","host_organization_lineage":["https://openalex.org/P4310315718"],"host_organization_lineage_names":["The MIT Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5062023983","display_name":"Takeshi Kano","orcid":"https://orcid.org/0000-0002-2033-4695"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Takeshi Kano","raw_affiliation_strings":["Tohoku University, Research Institute of Electrical Communication"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku University, Research Institute of Electrical Communication","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102956057","display_name":"Eiichi Naito","orcid":"https://orcid.org/0000-0002-9509-813X"},"institutions":[{"id":"https://openalex.org/I1283155146","display_name":"Panasonic (Japan)","ror":"https://ror.org/011tm7n37","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283155146"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Eiichi Naito","raw_affiliation_strings":["Panasonic Corporation, Business Innovation Division"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Panasonic Corporation, Business Innovation Division","institution_ids":["https://openalex.org/I1283155146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035781123","display_name":"Takenobu Aoshima","orcid":null},"institutions":[{"id":"https://openalex.org/I1283155146","display_name":"Panasonic (Japan)","ror":"https://ror.org/011tm7n37","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283155146"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takenobu Aoshima","raw_affiliation_strings":["Panasonic Corporation, Business Innovation Division"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Panasonic Corporation, Business Innovation Division","institution_ids":["https://openalex.org/I1283155146"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079413812","display_name":"Akio Ishiguro","orcid":"https://orcid.org/0000-0003-2850-0149"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akio Ishiguro","raw_affiliation_strings":["Tohoku University, Research Institute of Electrical Communication"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku University, Research Institute of Electrical Communication","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5062023983"],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":0.8635,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.69647901,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"26","issue":"2","first_page":"242","last_page":"259"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991000294685364,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9901000261306763,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.833926260471344},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.7875733375549316},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.7832041382789612},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7687021493911743},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.598338782787323},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5579384565353394},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5344374179840088},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.5275169014930725},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.4544064402580261},{"id":"https://openalex.org/keywords/ant-robotics","display_name":"Ant robotics","score":0.43960145115852356},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4268348217010498},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.4217315912246704},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3487324118614197},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34528830647468567},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.33621272444725037},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3114432394504547},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09874787926673889}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.833926260471344},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.7875733375549316},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.7832041382789612},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7687021493911743},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.598338782787323},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5579384565353394},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5344374179840088},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.5275169014930725},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.4544064402580261},{"id":"https://openalex.org/C44832474","wikidata":"https://www.wikidata.org/wiki/Q4770870","display_name":"Ant robotics","level":5,"score":0.43960145115852356},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4268348217010498},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.4217315912246704},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3487324118614197},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34528830647468567},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.33621272444725037},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3114432394504547},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09874787926673889},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1162/artl_a_00317","is_oa":false,"landing_page_url":"https://doi.org/10.1162/artl_a_00317","pdf_url":null,"source":{"id":"https://openalex.org/S2181302","display_name":"Artificial Life","issn_l":"1064-5462","issn":["1064-5462","1530-9185"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315718","host_organization_name":"The MIT Press","host_organization_lineage":["https://openalex.org/P4310315718"],"host_organization_lineage_names":["The MIT Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life","raw_type":"journal-article"},{"id":"pmid:32271634","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32271634","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial life","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W94944938","https://openalex.org/W145376279","https://openalex.org/W1538511102","https://openalex.org/W1575333138","https://openalex.org/W1968338229","https://openalex.org/W1978171206","https://openalex.org/W1978295341","https://openalex.org/W1981153219","https://openalex.org/W1987593367","https://openalex.org/W1988979166","https://openalex.org/W2019258694","https://openalex.org/W2022288015","https://openalex.org/W2030775133","https://openalex.org/W2038638399","https://openalex.org/W2053796391","https://openalex.org/W2056705885","https://openalex.org/W2061817859","https://openalex.org/W2066231696","https://openalex.org/W2082144811","https://openalex.org/W2117910558","https://openalex.org/W2126238176","https://openalex.org/W2127826644","https://openalex.org/W2150312211","https://openalex.org/W2161481732","https://openalex.org/W2164284962","https://openalex.org/W2171928181","https://openalex.org/W2245790804","https://openalex.org/W2533361129","https://openalex.org/W2562495385","https://openalex.org/W2746677240","https://openalex.org/W2755904773","https://openalex.org/W2768914970","https://openalex.org/W2790892475","https://openalex.org/W2886172889","https://openalex.org/W2912100673","https://openalex.org/W2921599593","https://openalex.org/W2921739395","https://openalex.org/W2946268046","https://openalex.org/W2962849572","https://openalex.org/W2963207707","https://openalex.org/W2963225286","https://openalex.org/W4234406933","https://openalex.org/W4239857847","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W3094438089","https://openalex.org/W1713666988","https://openalex.org/W2611942912","https://openalex.org/W1966857494","https://openalex.org/W2518382144","https://openalex.org/W617387166","https://openalex.org/W2594816432","https://openalex.org/W1600534566","https://openalex.org/W1583262759","https://openalex.org/W4390481218"],"abstract_inverted_index":{"A":[0],"swarm":[1,18,31,65],"robotic":[2],"system":[3,6,138],"is":[4,139],"a":[5,14,59,90],"in":[7,55,128],"which":[8,40],"multiple":[9,126],"robots":[10,19,32,66,105,122],"cooperate":[11],"to":[12,29,88,106,123],"fulfill":[13],"macroscopic":[15],"function.":[16],"Many":[17],"have":[20],"been":[21],"developed":[22],"for":[23,45,64,108],"various":[24,131],"purposes.":[25],"This":[26],"study":[27],"aims":[28],"design":[30],"capable":[33],"of":[34,135],"executing":[35],"spatially":[36],"distributed":[37],"tasks":[38,46,127],"effectively,":[39],"can":[41],"be":[42],"potentially":[43],"used":[44],"such":[47],"as":[48],"search-and-rescue":[49],"operation":[50],"and":[51,92,99],"gathering":[52],"scattered":[53],"garbage":[54],"rooms.":[56],"We":[57,111],"propose":[58],"simple":[60],"decentralized":[61],"control":[62,118],"scheme":[63,119],"by":[67],"extending":[68],"our":[69],"previously":[70],"proposed":[71,117,137],"non-reciprocal-interaction-based":[72],"model.":[73],"Each":[74,83],"robot":[75,84],"has":[76],"an":[77],"internal":[78],"state,":[79],"called":[80],"its":[81,96,103],"workload.":[82],"first":[85],"moves":[86],"randomly":[87],"find":[89],"task,":[91],"when":[93],"it":[94,101],"does,":[95],"workload":[97],"increases,":[98],"then":[100],"attracts":[102],"neighboring":[104],"ask":[107],"their":[109],"help.":[110],"demonstrate,":[112],"via":[113],"simulations,":[114],"that":[115],"the":[116,121,136],"enables":[120],"effectively":[124],"execute":[125],"parallel":[129],"under":[130],"environments.":[132],"Fault":[133],"tolerance":[134],"also":[140],"demonstrated.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
