{"id":"https://openalex.org/W2117923849","doi":"https://doi.org/10.1177/105971230401200306","title":"Learning and Measuring Specialization in Collaborative Swarm Systems","display_name":"Learning and Measuring Specialization in Collaborative Swarm Systems","publication_year":2004,"publication_date":"2004-12-01","ids":{"openalex":"https://openalex.org/W2117923849","doi":"https://doi.org/10.1177/105971230401200306","mag":"2117923849"},"language":"en","primary_location":{"id":"doi:10.1177/105971230401200306","is_oa":false,"landing_page_url":"https://doi.org/10.1177/105971230401200306","pdf_url":null,"source":{"id":"https://openalex.org/S183337005","display_name":"Adaptive Behavior","issn_l":"1059-7123","issn":["1059-7123","1741-2633"],"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":"Adaptive Behavior","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/A5100435340","display_name":"Ling Li","orcid":"https://orcid.org/0000-0002-3280-9475"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ling Li","raw_affiliation_strings":["Learning Systems Group, California Institute of Technology,"],"affiliations":[{"raw_affiliation_string":"Learning Systems Group, California Institute of Technology,","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080713076","display_name":"Alcherio Martinoli","orcid":"https://orcid.org/0000-0002-5201-7862"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alcherio Martinoli","raw_affiliation_strings":["Swarm-Intelligent Systems Research Group, EPFL,"],"affiliations":[{"raw_affiliation_string":"Swarm-Intelligent Systems Research Group, EPFL,","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069502162","display_name":"Yaser S. Abu\u2010Mostafa","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yaser S. Abu-Mostafa","raw_affiliation_strings":["Learning Systems Group, California Institute of Technology,"],"affiliations":[{"raw_affiliation_string":"Learning Systems Group, California Institute of Technology,","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100435340"],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":1.2659,"has_fulltext":false,"cited_by_count":54,"citation_normalized_percentile":{"value":0.80644925,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"12","issue":"3-4","first_page":"199","last_page":"212"},"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":0.998199999332428,"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":0.998199999332428,"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/T11252","display_name":"Evolutionary Game Theory and Cooperation","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/3312","display_name":"Sociology and Political Science"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9901999831199646,"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/swarm-robotics","display_name":"Swarm robotics","score":0.7660453915596008},{"id":"https://openalex.org/keywords/diversity","display_name":"Diversity (politics)","score":0.7500143647193909},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.7493896484375},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6931949853897095},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6406685709953308},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5525210499763489},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.5425891876220703},{"id":"https://openalex.org/keywords/homogeneous","display_name":"Homogeneous","score":0.5086737275123596},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.49114057421684265},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47747802734375},{"id":"https://openalex.org/keywords/collaborative-learning","display_name":"Collaborative learning","score":0.41493773460388184},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3791190981864929},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32434070110321045},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16615283489227295},{"id":"https://openalex.org/keywords/knowledge-management","display_name":"Knowledge management","score":0.14650437235832214},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.11222708225250244},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08637100458145142}],"concepts":[{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.7660453915596008},{"id":"https://openalex.org/C2781316041","wikidata":"https://www.wikidata.org/wiki/Q1230584","display_name":"Diversity (politics)","level":2,"score":0.7500143647193909},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.7493896484375},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6931949853897095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6406685709953308},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5525210499763489},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.5425891876220703},{"id":"https://openalex.org/C66882249","wikidata":"https://www.wikidata.org/wiki/Q169336","display_name":"Homogeneous","level":2,"score":0.5086737275123596},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.49114057421684265},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47747802734375},{"id":"https://openalex.org/C138020889","wikidata":"https://www.wikidata.org/wiki/Q2349659","display_name":"Collaborative learning","level":2,"score":0.41493773460388184},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3791190981864929},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32434070110321045},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16615283489227295},{"id":"https://openalex.org/C56739046","wikidata":"https://www.wikidata.org/wiki/Q192060","display_name":"Knowledge management","level":1,"score":0.14650437235832214},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.11222708225250244},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08637100458145142},{"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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C19165224","wikidata":"https://www.wikidata.org/wiki/Q23404","display_name":"Anthropology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1177/105971230401200306","is_oa":false,"landing_page_url":"https://doi.org/10.1177/105971230401200306","pdf_url":null,"source":{"id":"https://openalex.org/S183337005","display_name":"Adaptive Behavior","issn_l":"1059-7123","issn":["1059-7123","1741-2633"],"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":"Adaptive Behavior","raw_type":"journal-article"},{"id":"pmh:oai:authors.library.caltech.edu:96894","is_oa":false,"landing_page_url":"https://resolver.caltech.edu/CaltechAUTHORS:20190702-144335632","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.58.8876","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.58.8876","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://swis.epfl.ch/Publications/AB04.pdf","raw_type":"text"},{"id":"pmh:oai:infoscience.epfl.ch:33711","is_oa":false,"landing_page_url":"http://infoscience.epfl.ch/record/33711","pdf_url":null,"source":{"id":"https://openalex.org/S4306400488","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W26772505","https://openalex.org/W1507332434","https://openalex.org/W1526647122","https://openalex.org/W1527196875","https://openalex.org/W1544602888","https://openalex.org/W1568199948","https://openalex.org/W1985348117","https://openalex.org/W2008134955","https://openalex.org/W2014154073","https://openalex.org/W2033680276","https://openalex.org/W2039514006","https://openalex.org/W2052064204","https://openalex.org/W2112515249","https://openalex.org/W2126361298","https://openalex.org/W2126554879","https://openalex.org/W2130629997","https://openalex.org/W2155846981","https://openalex.org/W2161061197","https://openalex.org/W2161481732","https://openalex.org/W2597683817","https://openalex.org/W3112567278","https://openalex.org/W3143860396","https://openalex.org/W4236155230","https://openalex.org/W4245938254","https://openalex.org/W6679247035"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W2518382144","https://openalex.org/W1988876749","https://openalex.org/W3094438089","https://openalex.org/W65954170","https://openalex.org/W1600534566","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"qualitative":[3],"and":[4,7,20,74,97,105,143,151,163,184],"quantitative":[5],"diversity":[6,19,33,115,142,170],"specialization":[8,21,44,106,144,156],"issues":[9],"in":[10,60,76,87,107,120,125,165],"the":[11,38,41,48,57,67,78,92,132,155,172],"framework":[12],"of":[13,43,69,94,99,140],"self-organizing,":[14],"distributed,":[15],"artificial":[16],"systems.":[17],"Both":[18],"are":[22,145],"obtained":[23],"via":[24],"distributed":[25],"learning":[26,122,164,185],"from":[27,56],"initially":[28],"homogeneous":[29],"swarms.":[30],"While":[31,154],"measuring":[32],"essentially":[34],"quantifies":[35],"differences":[36],"among":[37,130],"individuals,":[39],"assessing":[40],"degree":[42],"implies":[45],"correlation":[46],"between":[47],"swarm\u2019s":[49],"heterogeneity":[50],"with":[51],"its":[52],"overall":[53],"performance.":[54],"Starting":[55],"stick-pulling":[58],"experiment":[59],"collective":[61],"robotics,":[62],"a":[63,166],"task":[64,79,95,152],"that":[65],"requires":[66],"collaboration":[68],"two":[70],"robots,":[71],"we":[72],"abstract":[73],"generalize":[75],"simulation":[77],"constraints":[80,96],"to":[81,161,176,180],"k":[82],"robots":[83],"collaborating":[84],"sequentially":[85],"or":[86],"parallel.":[88],"We":[89],"investigate":[90],"quantitatively":[91],"influence":[93],"types":[98],"reinforcement":[100],"signals":[101],"on":[102],"performance,":[103],"diversity,":[104],"these":[108],"collaborative":[109],"experiments.":[110],"Results":[111],"show":[112],"that,":[113],"though":[114],"is":[116],"not":[117],"explicitly":[118],"rewarded":[119],"our":[121],"algorithm,":[123],"even":[124],"scenarios":[126],"without":[127],"explicit":[128],"communication":[129],"agents":[131],"swarm":[133],"becomes":[134],"specialized":[135],"after":[136],"learning.":[137],"The":[138],"degrees":[139],"both":[141],"affected":[146],"strongly":[147],"by":[148],"environmental":[149],"conditions":[150,183],"constraints.":[153],"measure":[157,174],"reveals":[158],"characteristics":[159],"related":[160],"performance":[162],"clearer":[167],"way":[168],"than":[169],"does,":[171],"latter":[173],"appears":[175],"be":[177],"less":[178],"sensitive":[179],"different":[181],"noise":[182],"parameters.":[186]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":8}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
