{"id":"https://openalex.org/W2920854821","doi":"https://doi.org/10.3390/e21030294","title":"Learning to Cooperate via an Attention-Based Communication Neural Network in Decentralized Multi-Robot Exploration","display_name":"Learning to Cooperate via an Attention-Based Communication Neural Network in Decentralized Multi-Robot Exploration","publication_year":2019,"publication_date":"2019-03-19","ids":{"openalex":"https://openalex.org/W2920854821","doi":"https://doi.org/10.3390/e21030294","mag":"2920854821","pmid":"https://pubmed.ncbi.nlm.nih.gov/33267009"},"language":"en","primary_location":{"id":"doi:10.3390/e21030294","is_oa":true,"landing_page_url":"https://doi.org/10.3390/e21030294","pdf_url":"https://www.mdpi.com/1099-4300/21/3/294/pdf?version=1552973265","source":{"id":"https://openalex.org/S195231649","display_name":"Entropy","issn_l":"1099-4300","issn":["1099-4300"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Entropy","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1099-4300/21/3/294/pdf?version=1552973265","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054383658","display_name":"Mingyang Geng","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyang Geng","raw_affiliation_strings":["National Key Laboratory of Parallel and Distributed Processing, College of Computer, National University of Defense Technology, Changsha 410073, China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Parallel and Distributed Processing, College of Computer, National University of Defense Technology, Changsha 410073, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013340793","display_name":"Kele Xu","orcid":"https://orcid.org/0000-0001-5997-5169"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kele Xu","raw_affiliation_strings":["National Key Laboratory of Parallel and Distributed Processing, College of Computer, National University of Defense Technology, Changsha 410073, China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Parallel and Distributed Processing, College of Computer, National University of Defense Technology, Changsha 410073, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101851239","display_name":"Xing Zhou","orcid":"https://orcid.org/0000-0001-6358-1621"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xing Zhou","raw_affiliation_strings":["National Key Laboratory of Parallel and Distributed Processing, College of Computer, National University of Defense Technology, Changsha 410073, China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Parallel and Distributed Processing, College of Computer, National University of Defense Technology, Changsha 410073, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088885490","display_name":"Bo Ding","orcid":"https://orcid.org/0000-0002-1236-8318"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bo Ding","raw_affiliation_strings":["National Key Laboratory of Parallel and Distributed Processing, College of Computer, National University of Defense Technology, Changsha 410073, China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Parallel and Distributed Processing, College of Computer, National University of Defense Technology, Changsha 410073, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101522100","display_name":"Huaimin Wang","orcid":"https://orcid.org/0000-0002-3245-1901"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaimin Wang","raw_affiliation_strings":["National Key Laboratory of Parallel and Distributed Processing, College of Computer, National University of Defense Technology, Changsha 410073, China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Parallel and Distributed Processing, College of Computer, National University of Defense Technology, Changsha 410073, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100776758","display_name":"Lei Zhang","orcid":"https://orcid.org/0000-0002-2311-9421"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Zhang","raw_affiliation_strings":["National Key Laboratory of Integrated Automation of Process Industry, Northeastern University, Shenyang 110000, China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Integrated Automation of Process Industry, Northeastern University, Shenyang 110000, China","institution_ids":["https://openalex.org/I9224756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5088885490"],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":{"value":2000,"currency":"CHF","value_usd":2165},"apc_paid":{"value":2000,"currency":"CHF","value_usd":2165},"fwci":2.7458,"has_fulltext":true,"cited_by_count":26,"citation_normalized_percentile":{"value":0.92423987,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"21","issue":"3","first_page":"294","last_page":"294"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9990000128746033,"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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/computer-science","display_name":"Computer science","score":0.7558044195175171},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7140412926673889},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5863382816314697},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5798864960670471},{"id":"https://openalex.org/keywords/relevance","display_name":"Relevance (law)","score":0.5374207496643066},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5353121757507324},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5259630680084229},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4872690439224243},{"id":"https://openalex.org/keywords/telecommunications-network","display_name":"Telecommunications network","score":0.4100100100040436},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3655119836330414},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.10993734002113342},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10249656438827515}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7558044195175171},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7140412926673889},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5863382816314697},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5798864960670471},{"id":"https://openalex.org/C158154518","wikidata":"https://www.wikidata.org/wiki/Q7310970","display_name":"Relevance (law)","level":2,"score":0.5374207496643066},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5353121757507324},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5259630680084229},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4872690439224243},{"id":"https://openalex.org/C192126672","wikidata":"https://www.wikidata.org/wiki/Q1068715","display_name":"Telecommunications network","level":2,"score":0.4100100100040436},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3655119836330414},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.10993734002113342},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10249656438827515},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/e21030294","is_oa":true,"landing_page_url":"https://doi.org/10.3390/e21030294","pdf_url":"https://www.mdpi.com/1099-4300/21/3/294/pdf?version=1552973265","source":{"id":"https://openalex.org/S195231649","display_name":"Entropy","issn_l":"1099-4300","issn":["1099-4300"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Entropy","raw_type":"journal-article"},{"id":"pmid:33267009","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33267009","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Entropy (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:77a094f3125d463fb1798c49a5ac8a5e","is_oa":true,"landing_page_url":"https://doaj.org/article/77a094f3125d463fb1798c49a5ac8a5e","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Entropy, Vol 21, Iss 3, p 294 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1099-4300/21/3/294/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/e21030294","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Entropy","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:7514775","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7514775","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Entropy (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/e21030294","is_oa":true,"landing_page_url":"https://doi.org/10.3390/e21030294","pdf_url":"https://www.mdpi.com/1099-4300/21/3/294/pdf?version=1552973265","source":{"id":"https://openalex.org/S195231649","display_name":"Entropy","issn_l":"1099-4300","issn":["1099-4300"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Entropy","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Climate action","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G1121271761","display_name":null,"funder_award_id":"Program","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3500858790","display_name":null,"funder_award_id":"61751208","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5069775644","display_name":null,"funder_award_id":"6175120","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8796892640","display_name":null,"funder_award_id":"61773390","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G903598532","display_name":null,"funder_award_id":"61502510","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2920854821.pdf","grobid_xml":"https://content.openalex.org/works/W2920854821.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W84433840","https://openalex.org/W89605384","https://openalex.org/W124447425","https://openalex.org/W1471578414","https://openalex.org/W1498804459","https://openalex.org/W1549109060","https://openalex.org/W1573725801","https://openalex.org/W1966213627","https://openalex.org/W1980392184","https://openalex.org/W2000086754","https://openalex.org/W2076518796","https://openalex.org/W2089437550","https://openalex.org/W2108124163","https://openalex.org/W2109490756","https://openalex.org/W2119717200","https://openalex.org/W2126366668","https://openalex.org/W2131774270","https://openalex.org/W2133564696","https://openalex.org/W2174196774","https://openalex.org/W2187089797","https://openalex.org/W2198547365","https://openalex.org/W2215802798","https://openalex.org/W2255045308","https://openalex.org/W2402402867","https://openalex.org/W2560814118","https://openalex.org/W2561839189","https://openalex.org/W2604283518","https://openalex.org/W2614010283","https://openalex.org/W2623431351","https://openalex.org/W2658702172","https://openalex.org/W2780225426","https://openalex.org/W2795910581","https://openalex.org/W2804360326","https://openalex.org/W2897564220","https://openalex.org/W2901739119","https://openalex.org/W2914439038","https://openalex.org/W2963761387","https://openalex.org/W2966896140"],"related_works":["https://openalex.org/W2085384747","https://openalex.org/W2088166309","https://openalex.org/W1891216533","https://openalex.org/W4312133475","https://openalex.org/W4238976562","https://openalex.org/W2276587472","https://openalex.org/W2615795876","https://openalex.org/W2049612369","https://openalex.org/W3213722473","https://openalex.org/W2110944602"],"abstract_inverted_index":{"In":[0,25],"a":[1,14,22,30,74,153],"decentralized":[2,69,91],"multi-robot":[3,92,155],"exploration":[4,93,157,177],"problem,":[5,42],"the":[6,26,45,54,77,85,90,100,104,111,121,132,140,146,164,176],"robots":[7,101,141],"have":[8,36],"to":[9,12,39,65,83,102,142],"cooperate":[10],"effectively":[11],"map":[13],"strange":[15],"environment":[16],"as":[17,19,44,168,170],"soon":[18],"possible":[20],"without":[21],"centralized":[23],"controller.":[24],"past":[27],"few":[28],"decades,":[29],"set":[31],"of":[32,128,134],"\"human-designed\"":[33,166],"cooperation":[34,86,105],"strategies":[35,87,106],"been":[37],"proposed":[38],"address":[40],"this":[41],"such":[43],"well-known":[46],"frontier-based":[47],"approach.":[48],"However,":[49],"many":[50],"real-world":[51],"settings,":[52],"especially":[53],"ones":[55],"that":[56,160],"are":[57,60],"constantly":[58],"changing,":[59],"too":[61],"complex":[62],"for":[63,125],"humans":[64],"design":[66],"efficient":[67],"and":[68],"strategies.":[70],"This":[71],"paper":[72],"presents":[73],"novel":[75],"approach,":[76],"Attention-based":[78],"Communication":[79],"neural":[80,97],"network":[81,98],"(CommAttn),":[82],"\"learn\"":[84],"automatically":[88],"in":[89,175],"problem.":[94],"The":[95,149],"communication":[96,122],"enables":[99,139],"learn":[103],"with":[107,145],"explicit":[108],"communication.":[109],"Moreover,":[110],"attention":[112],"mechanism":[113],"we":[114],"introduced":[115],"additionally":[116],"can":[117],"precisely":[118],"calculate":[119],"whether":[120],"is":[123],"necessary":[124,147],"each":[126,135],"pair":[127],"agents":[129],"by":[130],"considering":[131],"relevance":[133],"received":[136],"message,":[137],"which":[138],"communicate":[143],"only":[144],"partners.":[148],"empirical":[150],"results":[151],"on":[152],"simulated":[154],"disaster":[156],"scenario":[158],"demonstrate":[159],"our":[161],"proposal":[162],"outperforms":[163],"traditional":[165],"methods,":[167],"well":[169],"other":[171],"competing":[172],"\"learning-based\"":[173],"methods":[174],"task.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4}],"updated_date":"2026-04-13T07:58:08.660418","created_date":"2025-10-10T00:00:00"}
