{"id":"https://openalex.org/W2163883769","doi":"https://doi.org/10.1177/0278364907089350","title":"Automatic Configuration Recognition Methods in Modular Robots","display_name":"Automatic Configuration Recognition Methods in Modular Robots","publication_year":2008,"publication_date":"2008-03-01","ids":{"openalex":"https://openalex.org/W2163883769","doi":"https://doi.org/10.1177/0278364907089350","mag":"2163883769"},"language":"en","primary_location":{"id":"doi:10.1177/0278364907089350","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364907089350","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5077724190","display_name":"Michael Park","orcid":"https://orcid.org/0000-0001-5268-094X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Michael Park","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, USA,","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057299610","display_name":"Sachin Chitta","orcid":"https://orcid.org/0000-0003-4859-6096"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sachin Chitta","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, USA,","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074635782","display_name":"Alex Teichman","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alex Teichman","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, USA,","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061019213","display_name":"Mark Yim","orcid":"https://orcid.org/0000-0002-0837-052X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mark Yim","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, USA,","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5057299610","https://openalex.org/A5061019213","https://openalex.org/A5074635782","https://openalex.org/A5077724190"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":14.6901,"has_fulltext":false,"cited_by_count":111,"citation_normalized_percentile":{"value":0.99289296,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"27","issue":"3-4","first_page":"403","last_page":"421"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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":1.0,"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/T11231","display_name":"Microbial Fuel Cells and Bioremediation","score":0.9430000185966492,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9366000294685364,"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/modular-design","display_name":"Modular design","score":0.8025234937667847},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.7435773611068726},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.696148157119751},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6530359387397766},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5455023050308228},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5330051183700562},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.49543583393096924},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.466372549533844},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.46301695704460144},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.4375416040420532},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3629862070083618},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19674921035766602},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.16708695888519287},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13374635577201843}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8025234937667847},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.7435773611068726},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.696148157119751},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6530359387397766},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5455023050308228},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5330051183700562},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.49543583393096924},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.466372549533844},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.46301695704460144},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.4375416040420532},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3629862070083618},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19674921035766602},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.16708695888519287},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13374635577201843},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1177/0278364907089350","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364907089350","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:repository.upenn.edu:20.500.14332/39866","is_oa":false,"landing_page_url":"https://repository.upenn.edu/handle/20.500.14332/39866","pdf_url":null,"source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"published","raw_type":"Article"},{"id":"pmh:oai:repository.upenn.edu:meam_papers-1162","is_oa":false,"landing_page_url":"https://repository.upenn.edu/cgi/viewcontent.cgi?article=1162&context=meam_papers","pdf_url":null,"source":{"id":"https://openalex.org/S4377196331","display_name":"Scholarly Commons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (MEAM)","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.585.6849","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.585.6849","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://modlab.seas.upenn.edu/publications/2007_IJRR_ConfigRecog.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W181237337","https://openalex.org/W1516275525","https://openalex.org/W1578099820","https://openalex.org/W1585577797","https://openalex.org/W1928929119","https://openalex.org/W1951042395","https://openalex.org/W1980012728","https://openalex.org/W2101392651","https://openalex.org/W2115104462","https://openalex.org/W2117551762","https://openalex.org/W2119067909","https://openalex.org/W2132817270","https://openalex.org/W2139714790","https://openalex.org/W2140355478","https://openalex.org/W2143477594","https://openalex.org/W2144987283","https://openalex.org/W2146582193","https://openalex.org/W2151288708","https://openalex.org/W2153315991","https://openalex.org/W2166965569","https://openalex.org/W2167382904","https://openalex.org/W2401135644","https://openalex.org/W3139610437","https://openalex.org/W3140939614","https://openalex.org/W4231358230"],"related_works":["https://openalex.org/W2720417647","https://openalex.org/W4225163935","https://openalex.org/W86933508","https://openalex.org/W2663455904","https://openalex.org/W2765089336","https://openalex.org/W2313074614","https://openalex.org/W2130464959","https://openalex.org/W2166742878","https://openalex.org/W2883992449","https://openalex.org/W2786688135"],"abstract_inverted_index":{"Recognizing":[0],"useful":[1],"modular":[2,17,173],"robot":[3,18,50],"configurations":[4,25,51,70],"composed":[5],"of":[6,8,23,43,55,92,116,154,172,184],"hundreds":[7],"modules":[9],"is":[10,26],"a":[11,15,21,53,97,102,106],"significant":[12],"challenge.":[13],"Matching":[14],"new":[16,49],"configuration":[19,93,104,155],"to":[20,39,95,105,127,151,180],"library":[22,54],"known":[24,56,107],"essential":[27],"in":[28,124,131,168],"identifying":[29],"and":[30,46,67,133,157,162,176,188],"applying":[31],"control":[32],"schemes.":[33],"We":[34],"present":[35],"three":[36,144,186],"different":[37,80],"algorithms":[38,187],"address":[40],"the":[41,62,73,84,113,117,120,152,182,185],"problem":[42,63,118,153],"(a)":[44],"matching":[45],"(b)":[47],"mapping":[48],"onto":[52],"configurations.":[57,141],"The":[58,86,109],"first":[59],"method":[60],"solves":[61],"using":[64],"graph":[65,76,90],"isomorphisms":[66],"can":[68],"identify":[69],"that":[71,100],"share":[72],"same":[74],"underlying":[75],"structure,":[77],"but":[78],"have":[79],"port":[81],"connections":[82],"amongst":[83],"modules.":[85],"second":[87],"approach":[88],"compares":[89],"spectra":[91],"matrices":[94],"find":[96],"permutation":[98],"matrix":[99],"maps":[101],"given":[103],"one.":[108],"third":[110],"algorithm":[111],"exploits":[112],"unique":[114],"structure":[115],"for":[119,139,165],"particular":[121],"robots":[122],"used":[123],"our":[125],"research":[126],"achieve":[128],"impressive":[129],"gains":[130],"performance":[132,183],"speed":[134],"over":[135],"existing":[136],"techniques,":[137],"especially":[138],"larger":[140],"With":[142],"these":[143],"algorithms,":[145],"this":[146,169],"paper":[147],"presents":[148],"novel":[149],"solutions":[150],"recognition":[156],"sheds":[158],"light":[159],"on":[160],"theoretical":[161],"practical":[163],"issues":[164],"long-term":[166],"advances":[167],"important":[170],"area":[171],"robotics.":[174],"Results":[175],"examples":[177],"are":[178],"provided":[179],"compare":[181],"discuss":[189],"their":[190],"relative":[191],"advantages.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":8}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}