{"id":"https://openalex.org/W2741509917","doi":"https://doi.org/10.24963/ijcai.2017/686","title":"An End-to-End System for Accomplishing Tasks with Modular Robots: Perspectives for the AI community","display_name":"An End-to-End System for Accomplishing Tasks with Modular Robots: Perspectives for the AI community","publication_year":2017,"publication_date":"2017-07-28","ids":{"openalex":"https://openalex.org/W2741509917","doi":"https://doi.org/10.24963/ijcai.2017/686","mag":"2741509917"},"language":"en","primary_location":{"id":"doi:10.24963/ijcai.2017/686","is_oa":true,"landing_page_url":"https://doi.org/10.24963/ijcai.2017/686","pdf_url":"https://www.ijcai.org/proceedings/2017/0686.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.ijcai.org/proceedings/2017/0686.pdf","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086079891","display_name":"Gangyuan Jing","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gangyuan Jing","raw_affiliation_strings":["Cornell University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080668728","display_name":"Tarik Tosun","orcid":"https://orcid.org/0000-0003-0866-0591"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tarik Tosun","raw_affiliation_strings":["University of Pennsylvania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania","institution_ids":["https://openalex.org/I36788626"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061019213","display_name":"Mark Yim","orcid":"https://orcid.org/0000-0002-0837-052X"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Yim","raw_affiliation_strings":["University of Pennsylvania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania","institution_ids":["https://openalex.org/I36788626"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020074157","display_name":"Hadas Kress\u2010Gazit","orcid":"https://orcid.org/0000-0002-7754-1011"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hadas Kress-Gazit","raw_affiliation_strings":["Cornell University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":32,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4879","last_page":"4883"},"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/T13382","display_name":"Robotics and Automated Systems","score":0.9458000063896179,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/modular-design","display_name":"Modular design","score":0.8920407295227051},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.7861453890800476},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7414153814315796},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6857150197029114},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6787729263305664},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.579188883304596},{"id":"https://openalex.org/keywords/modularity","display_name":"Modularity (biology)","score":0.4869478940963745},{"id":"https://openalex.org/keywords/computer-architecture","display_name":"Computer architecture","score":0.4360945224761963},{"id":"https://openalex.org/keywords/end-to-end-principle","display_name":"End-to-end principle","score":0.42790675163269043},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.4193664789199829},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.41743963956832886},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.39494454860687256},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.35954201221466064},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.35063740611076355},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.258919894695282},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23094788193702698},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.19743582606315613},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.1572275459766388},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.14679521322250366},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14443355798721313},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.11777716875076294}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8920407295227051},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.7861453890800476},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7414153814315796},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6857150197029114},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6787729263305664},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.579188883304596},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.4869478940963745},{"id":"https://openalex.org/C118524514","wikidata":"https://www.wikidata.org/wiki/Q173212","display_name":"Computer architecture","level":1,"score":0.4360945224761963},{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.42790675163269043},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.4193664789199829},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.41743963956832886},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39494454860687256},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.35954201221466064},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.35063740611076355},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.258919894695282},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23094788193702698},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.19743582606315613},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.1572275459766388},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.14679521322250366},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14443355798721313},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.11777716875076294},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.24963/ijcai.2017/686","is_oa":true,"landing_page_url":"https://doi.org/10.24963/ijcai.2017/686","pdf_url":"https://www.ijcai.org/proceedings/2017/0686.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.24963/ijcai.2017/686","is_oa":true,"landing_page_url":"https://doi.org/10.24963/ijcai.2017/686","pdf_url":"https://www.ijcai.org/proceedings/2017/0686.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2741509917.pdf","grobid_xml":"https://content.openalex.org/works/W2741509917.grobid-xml"},"referenced_works_count":12,"referenced_works":["https://openalex.org/W1970269621","https://openalex.org/W2004796166","https://openalex.org/W2056864430","https://openalex.org/W2095274657","https://openalex.org/W2125188427","https://openalex.org/W2141219814","https://openalex.org/W2145386918","https://openalex.org/W2148446974","https://openalex.org/W2150335178","https://openalex.org/W2155878025","https://openalex.org/W2564145065","https://openalex.org/W2737801868"],"related_works":["https://openalex.org/W2297768894","https://openalex.org/W2378076731","https://openalex.org/W3109014690","https://openalex.org/W2720417647","https://openalex.org/W4225163935","https://openalex.org/W2122405502","https://openalex.org/W2114254072","https://openalex.org/W2127721729","https://openalex.org/W86933508","https://openalex.org/W2884798239"],"abstract_inverted_index":{"The":[0,65],"advantage":[1,12],"of":[2,24,57,68,86],"modular":[3,49],"robot":[4,106],"systems":[5],"lies":[6],"in":[7,62,115],"their":[8],"flexibility,":[9],"but":[10],"this":[11,38],"can":[13],"only":[14],"be":[15],"realized":[16],"if":[17],"there":[18],"exists":[19],"some":[20],"reliable,":[21],"effective":[22],"way":[23],"generating":[25],"configurations":[26,100],"(shapes)":[27],"and":[28,51,91,101,103],"behaviors":[29],"(controlling":[30],"programs)":[31],"appropriate":[32],"for":[33,45,94,125],"a":[34,83,121,126],"given":[35],"task.":[36],"In":[37],"paper,":[39],"we":[40],"present":[41],"an":[42],"end-to-end":[43],"system":[44,66],"addressing":[46],"tasks":[47,61],"with":[48,98],"robots,":[50],"demonstrate":[52],"that":[53],"it":[54],"is":[55],"capable":[56],"accomplishing":[58],"challenging":[59],"multi-part":[60],"hardware":[63],"experiments.":[64],"consists":[67],"four":[69],"tightly":[70],"integrated":[71],"components:":[72],"(1)":[73],"A":[74,79,89],"high-level":[75],"mission":[76],"planner,":[77],"(2)":[78],"design":[80,90],"library":[81,97],"spanning":[82],"wide":[84],"set":[85],"functionality,":[87],"(3)":[88],"simulation":[92],"tool":[93],"populating":[95],"the":[96,111],"new":[99],"behaviors,":[102],"(4)":[104],"Modular":[105],"hardware.":[107],"This":[108],"paper":[109],"condenses":[110],"material":[112],"originally":[113],"presented":[114],"Jing":[116],"et":[117],"al.":[118],"2016":[119],"into":[120],"shorter":[122],"format":[123],"suitable":[124],"broad":[127],"audience.":[128]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
