{"id":"https://openalex.org/W1995657057","doi":"https://doi.org/10.1177/1059712313484771","title":"Autonomous task partitioning in robot foraging: an approach based on cost estimation","display_name":"Autonomous task partitioning in robot foraging: an approach based on cost estimation","publication_year":2013,"publication_date":"2013-04-01","ids":{"openalex":"https://openalex.org/W1995657057","doi":"https://doi.org/10.1177/1059712313484771","mag":"1995657057"},"language":"en","primary_location":{"id":"doi:10.1177/1059712313484771","is_oa":false,"landing_page_url":"https://doi.org/10.1177/1059712313484771","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/A5064766994","display_name":"Giovanni Pini","orcid":null},"institutions":[{"id":"https://openalex.org/I132053463","display_name":"Universit\u00e9 Libre de Bruxelles","ror":"https://ror.org/01r9htc13","country_code":"BE","type":"education","lineage":["https://openalex.org/I132053463"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Giovanni Pini","raw_affiliation_strings":["IRIDIA, Universit\u00e9 Libre de Bruxelles, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRIDIA, Universit\u00e9 Libre de Bruxelles, Belgium","institution_ids":["https://openalex.org/I132053463"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050020928","display_name":"Arne Brutschy","orcid":null},"institutions":[{"id":"https://openalex.org/I132053463","display_name":"Universit\u00e9 Libre de Bruxelles","ror":"https://ror.org/01r9htc13","country_code":"BE","type":"education","lineage":["https://openalex.org/I132053463"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Arne Brutschy","raw_affiliation_strings":["IRIDIA, Universit\u00e9 Libre de Bruxelles, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRIDIA, Universit\u00e9 Libre de Bruxelles, Belgium","institution_ids":["https://openalex.org/I132053463"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034543991","display_name":"Carlo Pinciroli","orcid":"https://orcid.org/0000-0002-2155-0445"},"institutions":[{"id":"https://openalex.org/I132053463","display_name":"Universit\u00e9 Libre de Bruxelles","ror":"https://ror.org/01r9htc13","country_code":"BE","type":"education","lineage":["https://openalex.org/I132053463"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Carlo Pinciroli","raw_affiliation_strings":["IRIDIA, Universit\u00e9 Libre de Bruxelles, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRIDIA, Universit\u00e9 Libre de Bruxelles, Belgium","institution_ids":["https://openalex.org/I132053463"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024091899","display_name":"Marco Dorigo","orcid":"https://orcid.org/0000-0002-3971-0507"},"institutions":[{"id":"https://openalex.org/I132053463","display_name":"Universit\u00e9 Libre de Bruxelles","ror":"https://ror.org/01r9htc13","country_code":"BE","type":"education","lineage":["https://openalex.org/I132053463"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Marco Dorigo","raw_affiliation_strings":["IRIDIA, Universit\u00e9 Libre de Bruxelles, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRIDIA, Universit\u00e9 Libre de Bruxelles, Belgium","institution_ids":["https://openalex.org/I132053463"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061782786","display_name":"Mauro Birattari","orcid":"https://orcid.org/0000-0003-3309-2194"},"institutions":[{"id":"https://openalex.org/I132053463","display_name":"Universit\u00e9 Libre de Bruxelles","ror":"https://ror.org/01r9htc13","country_code":"BE","type":"education","lineage":["https://openalex.org/I132053463"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Mauro Birattari","raw_affiliation_strings":["IRIDIA, Universit\u00e9 Libre de Bruxelles, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRIDIA, Universit\u00e9 Libre de Bruxelles, Belgium","institution_ids":["https://openalex.org/I132053463"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I132053463"],"apc_list":null,"apc_paid":null,"fwci":7.2835,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.96944519,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"21","issue":"2","first_page":"118","last_page":"136"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983999729156494,"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":0.9983999729156494,"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":0.9976000189781189,"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/T12321","display_name":"Insect Pheromone Research and Control","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/1109","display_name":"Insect Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7849026918411255},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7329609990119934},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7183713912963867},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6873162984848022},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6054427623748779},{"id":"https://openalex.org/keywords/foraging","display_name":"Foraging","score":0.5904155373573303},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5321855545043945},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5211079716682434},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.48613402247428894},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.4743408262729645},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.472919762134552},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3327797055244446},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.30738526582717896},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11043843626976013}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7849026918411255},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7329609990119934},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7183713912963867},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6873162984848022},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6054427623748779},{"id":"https://openalex.org/C165287380","wikidata":"https://www.wikidata.org/wiki/Q2916569","display_name":"Foraging","level":2,"score":0.5904155373573303},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5321855545043945},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5211079716682434},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.48613402247428894},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.4743408262729645},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.472919762134552},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3327797055244446},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30738526582717896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11043843626976013},{"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/1059712313484771","is_oa":false,"landing_page_url":"https://doi.org/10.1177/1059712313484771","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:dipot.ulb.ac.be:2013/154771","is_oa":false,"landing_page_url":"http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/154771","pdf_url":null,"source":{"id":"https://openalex.org/S4306401063","display_name":"D\u00e9p\u00f4t institutionnel de l'Universit\u00e9 libre de Bruxelles (Universit\u00e9 Libre de Bruxelles)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I132053463","host_organization_name":"Universit\u00e9 Libre de Bruxelles","host_organization_lineage":["https://openalex.org/I132053463"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Adaptive Behavior, 21 (2","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W155446141","https://openalex.org/W1515851193","https://openalex.org/W1516489664","https://openalex.org/W1527196875","https://openalex.org/W1551227056","https://openalex.org/W1559507295","https://openalex.org/W1573416692","https://openalex.org/W1578969637","https://openalex.org/W1587207268","https://openalex.org/W1636971382","https://openalex.org/W1986459647","https://openalex.org/W1994095152","https://openalex.org/W1994509633","https://openalex.org/W1996542214","https://openalex.org/W2012403495","https://openalex.org/W2017150251","https://openalex.org/W2021632093","https://openalex.org/W2025596744","https://openalex.org/W2036548030","https://openalex.org/W2048246042","https://openalex.org/W2048414671","https://openalex.org/W2050484682","https://openalex.org/W2052083473","https://openalex.org/W2068244389","https://openalex.org/W2082443056","https://openalex.org/W2097774761","https://openalex.org/W2111830885","https://openalex.org/W2114481362","https://openalex.org/W2118331730","https://openalex.org/W2121863487","https://openalex.org/W2133064517","https://openalex.org/W2154395544","https://openalex.org/W2165718261","https://openalex.org/W2293749237","https://openalex.org/W2313120544","https://openalex.org/W2494353732","https://openalex.org/W2752885492","https://openalex.org/W2946046356","https://openalex.org/W3004540582","https://openalex.org/W3154486830","https://openalex.org/W4206915417","https://openalex.org/W4213226682","https://openalex.org/W4214717370","https://openalex.org/W4229881848","https://openalex.org/W4233908081","https://openalex.org/W4237327280","https://openalex.org/W4242527709"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W1988876749","https://openalex.org/W2518382144","https://openalex.org/W65954170","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166","https://openalex.org/W2787547275","https://openalex.org/W4390481218"],"abstract_inverted_index":{"We":[0,99,154,161],"propose":[1],"an":[2],"approach":[3,32,72,157,193],"for":[4,116,137,201],"autonomous":[5],"task":[6,50,75,143],"partitioning":[7,14,24,76,95,144,196],"in":[8,104],"swarms":[9],"of":[10,18,38,45,130,148,171,178,182],"foraging":[11,102],"robots.":[12],"Task":[13,23],"is":[15,33,108],"the":[16,36,43,48,55,60,74,93,124,128,146,164,183,186],"process":[17,77],"decomposing":[19],"tasks":[20,26],"into":[21],"sub-tasks.":[22],"impacts":[25],"execution":[27],"and":[28,58,81,151,185,188],"associated":[29],"costs.":[30,70],"Our":[31,71,192],"characterized":[34,174],"by":[35,110,175],"use":[37,59,135],"a":[39,86,101,117,169],"cost":[40,56],"function,":[41],"mapping":[42],"size":[44,181],"sub-tasks":[46,64],"to":[47,62,65,68,89,97,195],"overall":[49],"cost.":[51],"The":[52,120,133],"robots":[53,121,134],"model":[54,61],"function":[57],"select":[63],"perform,":[66],"aiming":[67],"minimize":[69],"separates":[73],"from":[78],"task-specific":[79],"actions":[80],"it":[82],"does":[83],"not":[84],"require":[85],"priori":[87],"assumptions":[88],"be":[90],"made":[91],"about":[92],"best":[94],"strategy":[96],"employ.":[98],"study":[100,162],"scenario":[103],"which":[105],"object":[106],"transportation":[107,167,190],"performed":[109],"different":[111,176],"robots,":[112],"each":[113,202],"moving":[114],"objects":[115],"limited":[118],"distance.":[119,191],"autonomously":[122],"decide":[123],"distance":[125],"traveled":[126],"on":[127],"basis":[129],"our":[131,156],"approach.":[132],"odometry":[136,149,179],"navigational":[138],"purposes;":[139],"we":[140],"show":[141],"that":[142,198],"reduces":[145],"impact":[147],"errors":[150],"improves":[152],"performance.":[153],"validate":[155],"using":[158],"simulation-based":[159],"experiments.":[160],"how":[163],"swarm":[165],"partitions":[166],"under":[168],"number":[170],"experimental":[172],"conditions":[173],"levels":[177],"accuracy,":[180],"environment":[184],"swarm,":[187],"total":[189],"leads":[194],"solutions":[197],"are":[199],"appropriate":[200],"condition.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}