{"id":"https://openalex.org/W2963207707","doi":"https://doi.org/10.1162/isal_a_00233","title":"Collective Change Detection: Adaptivity to Dynamic Swarm Densities and Light Conditions in Robot Swarms","display_name":"Collective Change Detection: Adaptivity to Dynamic Swarm Densities and Light Conditions in Robot Swarms","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2963207707","doi":"https://doi.org/10.1162/isal_a_00233","mag":"2963207707"},"language":"en","primary_location":{"id":"doi:10.1162/isal_a_00233","is_oa":true,"landing_page_url":"https://doi.org/10.1162/isal_a_00233","pdf_url":"https://www.mitpressjournals.org/doi/pdf/10.1162/isal_a_00233","source":{"id":"https://openalex.org/S4363608301","display_name":"The 2019 Conference on Artificial Life","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":"The 2019 Conference on Artificial Life","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://www.mitpressjournals.org/doi/pdf/10.1162/isal_a_00233","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048152775","display_name":"Mostafa Wahby","orcid":"https://orcid.org/0000-0002-1903-3625"},"institutions":[{"id":"https://openalex.org/I9341345","display_name":"University of L\u00fcbeck","ror":"https://ror.org/00t3r8h32","country_code":"DE","type":"education","lineage":["https://openalex.org/I9341345"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mostafa Wahby","raw_affiliation_strings":["Institute of Computer Engineering, University of L\u00fcbeck, L\u00fcbeck, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Computer Engineering, University of L\u00fcbeck, L\u00fcbeck, Germany","institution_ids":["https://openalex.org/I9341345"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043844520","display_name":"Julian Petzold","orcid":"https://orcid.org/0000-0001-9203-5494"},"institutions":[{"id":"https://openalex.org/I9341345","display_name":"University of L\u00fcbeck","ror":"https://ror.org/00t3r8h32","country_code":"DE","type":"education","lineage":["https://openalex.org/I9341345"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Julian Petzold","raw_affiliation_strings":["Institute of Computer Engineering, University of L\u00fcbeck, L\u00fcbeck, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Computer Engineering, University of L\u00fcbeck, L\u00fcbeck, Germany","institution_ids":["https://openalex.org/I9341345"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030927225","display_name":"Catriona Eschke","orcid":"https://orcid.org/0000-0002-1033-144X"},"institutions":[{"id":"https://openalex.org/I9341345","display_name":"University of L\u00fcbeck","ror":"https://ror.org/00t3r8h32","country_code":"DE","type":"education","lineage":["https://openalex.org/I9341345"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Catriona Eschke","raw_affiliation_strings":["Institute of Computer Engineering, University of L\u00fcbeck, L\u00fcbeck, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Computer Engineering, University of L\u00fcbeck, L\u00fcbeck, Germany","institution_ids":["https://openalex.org/I9341345"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016945377","display_name":"Thomas Schmickl","orcid":"https://orcid.org/0000-0001-8598-7462"},"institutions":[{"id":"https://openalex.org/I15766117","display_name":"University of Graz","ror":"https://ror.org/01faaaf77","country_code":"AT","type":"education","lineage":["https://openalex.org/I15766117"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Thomas Schmickl","raw_affiliation_strings":["Artificial Life Lab, University of Graz, Graz, Austria"],"affiliations":[{"raw_affiliation_string":"Artificial Life Lab, University of Graz, Graz, Austria","institution_ids":["https://openalex.org/I15766117"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017908221","display_name":"Heiko Hamann","orcid":"https://orcid.org/0000-0002-2458-8289"},"institutions":[{"id":"https://openalex.org/I9341345","display_name":"University of L\u00fcbeck","ror":"https://ror.org/00t3r8h32","country_code":"DE","type":"education","lineage":["https://openalex.org/I9341345"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Heiko Hamann","raw_affiliation_strings":["Institute of Computer Engineering, University of L\u00fcbeck, L\u00fcbeck, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Computer Engineering, University of L\u00fcbeck, L\u00fcbeck, Germany","institution_ids":["https://openalex.org/I9341345"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5017908221"],"corresponding_institution_ids":["https://openalex.org/I9341345"],"apc_list":null,"apc_paid":null,"fwci":14.4503,"has_fulltext":true,"cited_by_count":23,"citation_normalized_percentile":{"value":1.0,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10702","display_name":"Insect and Arachnid Ecology and Behavior","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10702","display_name":"Insect and Arachnid Ecology and Behavior","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T13362","display_name":"Slime Mold and Myxomycetes Research","score":0.9898999929428101,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9768000245094299,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.8688440322875977},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6279659271240234},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.5742161870002747},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5715071558952332},{"id":"https://openalex.org/keywords/change-detection","display_name":"Change detection","score":0.5017476081848145},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39392203092575073},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36375856399536133}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.8688440322875977},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6279659271240234},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.5742161870002747},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5715071558952332},{"id":"https://openalex.org/C203595873","wikidata":"https://www.wikidata.org/wiki/Q25389927","display_name":"Change detection","level":2,"score":0.5017476081848145},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39392203092575073},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36375856399536133}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1162/isal_a_00233","is_oa":true,"landing_page_url":"https://doi.org/10.1162/isal_a_00233","pdf_url":"https://www.mitpressjournals.org/doi/pdf/10.1162/isal_a_00233","source":{"id":"https://openalex.org/S4363608301","display_name":"The 2019 Conference on Artificial Life","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":"The 2019 Conference on Artificial Life","raw_type":"proceedings-article"},{"id":"pmh:oai:kops.uni-konstanz.de:123456789/59753","is_oa":true,"landing_page_url":"http://nbn-resolving.de/urn:nbn:de:bsz:352-2-vi4ph23zvggy4","pdf_url":null,"source":{"id":"https://openalex.org/S4306401487","display_name":"KOPS (University of Konstanz)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I189712700","host_organization_name":"University of Konstanz","host_organization_lineage":["https://openalex.org/I189712700"],"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/conferenceObject"}],"best_oa_location":{"id":"doi:10.1162/isal_a_00233","is_oa":true,"landing_page_url":"https://doi.org/10.1162/isal_a_00233","pdf_url":"https://www.mitpressjournals.org/doi/pdf/10.1162/isal_a_00233","source":{"id":"https://openalex.org/S4363608301","display_name":"The 2019 Conference on Artificial Life","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":"The 2019 Conference on Artificial Life","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2963207707.pdf","grobid_xml":"https://content.openalex.org/works/W2963207707.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1448371888","https://openalex.org/W1512917226","https://openalex.org/W1560529206","https://openalex.org/W1583262759","https://openalex.org/W1813885625","https://openalex.org/W1842123204","https://openalex.org/W1982894989","https://openalex.org/W2011616675","https://openalex.org/W2026233734","https://openalex.org/W2027578884","https://openalex.org/W2028319081","https://openalex.org/W2038638399","https://openalex.org/W2105284151","https://openalex.org/W2109987441","https://openalex.org/W2124687561","https://openalex.org/W2131235969","https://openalex.org/W2158592697","https://openalex.org/W2396192423","https://openalex.org/W2507838947","https://openalex.org/W2616559443","https://openalex.org/W2790892475","https://openalex.org/W2968717086","https://openalex.org/W4231510292","https://openalex.org/W4288416952"],"related_works":["https://openalex.org/W1966857494","https://openalex.org/W3094438089","https://openalex.org/W2518382144","https://openalex.org/W2015342348","https://openalex.org/W2793025790","https://openalex.org/W1583262759","https://openalex.org/W2611942912","https://openalex.org/W2114446083","https://openalex.org/W2785825263","https://openalex.org/W3032058861"],"abstract_inverted_index":{"Robot":[0],"swarms":[1,169],"are":[2,74],"known":[3],"to":[4,7,47,76,93,167],"be":[5,33,45],"robust":[6],"individual":[8,38],"robot":[9,103,141,168],"failures.":[10],"However,":[11],"a":[12,17],"reduced":[13,18],"swarm":[14,19,24,29,41,61,90,96,113,142,154,177],"size":[15],"causes":[16],"density.":[20,178],"A":[21],"too":[22],"low":[23],"density":[25,97,114],"may":[26],"then":[27],"decrease":[28],"performance,":[30],"that":[31],"should":[32],"compensated":[34],"by":[35,64,109,126,137],"adapting":[36],"the":[37,50,69,79,122,176],"behavior.":[39],"Similarly,":[40],"behaviors":[42],"can":[43],"also":[44],"adapted":[46],"changes":[48],"in":[49,82,95],"environment,":[51],"such":[52],"as":[53],"dynamic":[54,158],"light":[55,99,117,159],"conditions.":[56,100,160],"We":[57,161],"study":[58],"aggregation":[59,91],"of":[60,68,124,131,175],"robots":[62,73,125,146],"controlled":[63],"an":[65,163],"extended":[66],"variant":[67],"BEECLUST":[70],"algorithm.":[71],"The":[72],"asked":[75],"aggregate":[77],"at":[78],"brightest":[80],"spot":[81],"their":[83,135],"environment.":[84],"Our":[85],"approach":[86,150],"efficiently":[87],"adapts":[88],"this":[89],"behavior":[92],"variability":[94],"and":[98,115,156,172],"First,":[101],"each":[102],"individually":[104],"monitors":[105],"its":[106,111],"environment":[107],"continuously":[108],"sampling":[110],"local":[112],"perceived":[116],"condition.":[118],"Second,":[119],"we":[120,147],"exploit":[121],"collaboration":[123],"letting":[127],"them":[128],"share":[129],"features":[130],"these":[132],"measurements":[133],"with":[134,144,151],"neighbors":[136],"communication.":[138],"In":[139],"extensive":[140],"experiments":[143],"ten":[145],"validate":[148],"our":[149],"dynamically":[152],"changing":[153],"densities":[155],"under":[157],"find":[162],"improved":[164],"performance":[165],"compared":[166],"without":[170,173],"communication":[171],"awareness":[174]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}