{"id":"https://openalex.org/W4386781757","doi":"https://doi.org/10.3390/s23187892","title":"A Graph-Based Hybrid Reconfiguration Deformation Planning for Modular Robots","display_name":"A Graph-Based Hybrid Reconfiguration Deformation Planning for Modular Robots","publication_year":2023,"publication_date":"2023-09-14","ids":{"openalex":"https://openalex.org/W4386781757","doi":"https://doi.org/10.3390/s23187892","pmid":"https://pubmed.ncbi.nlm.nih.gov/37765949"},"language":"en","primary_location":{"id":"doi:10.3390/s23187892","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23187892","pdf_url":"https://www.mdpi.com/1424-8220/23/18/7892/pdf?version=1694702722","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","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/1424-8220/23/18/7892/pdf?version=1694702722","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113001983","display_name":"Ruopeng Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruopeng Wei","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100685976","display_name":"Yubin Liu","orcid":"https://orcid.org/0000-0002-7908-853X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yubin Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003849480","display_name":"Huijuan Dong","orcid":"https://orcid.org/0000-0002-0690-4540"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huijuan Dong","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054543629","display_name":"Yanhe Zhu","orcid":"https://orcid.org/0000-0002-1960-6278"},"institutions":[{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanhe Zhu","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069459810","display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0002-6086-9387"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100685976"],"corresponding_institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.6643,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.64655883,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"23","issue":"18","first_page":"7892","last_page":"7892"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9455000162124634,"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"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9300000071525574,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.9767930507659912},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.8821797966957092},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.8816077709197998},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7405919432640076},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.6089195609092712},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5668876767158508},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4874460995197296},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4292707145214081},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.35397976636886597},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3410910964012146},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28555405139923096},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.2569636106491089},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2481364905834198},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23023656010627747},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.16950643062591553},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.16495460271835327}],"concepts":[{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.9767930507659912},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8821797966957092},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.8816077709197998},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7405919432640076},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.6089195609092712},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5668876767158508},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4874460995197296},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4292707145214081},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35397976636886597},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3410910964012146},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28555405139923096},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.2569636106491089},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2481364905834198},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23023656010627747},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.16950643062591553},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.16495460271835327},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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:10.3390/s23187892","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23187892","pdf_url":"https://www.mdpi.com/1424-8220/23/18/7892/pdf?version=1694702722","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:37765949","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37765949","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10534630","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10534630","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10534630/pdf/sensors-23-07892.pdf","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":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:55912b3a8f4a4763a098649aae8b6269","is_oa":true,"landing_page_url":"https://doaj.org/article/55912b3a8f4a4763a098649aae8b6269","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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 23, Iss 18, p 7892 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s23187892","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23187892","pdf_url":"https://www.mdpi.com/1424-8220/23/18/7892/pdf?version=1694702722","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4000000059604645,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386781757.pdf"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W1489108251","https://openalex.org/W1988251166","https://openalex.org/W2046162118","https://openalex.org/W2080509217","https://openalex.org/W2113285099","https://openalex.org/W2116018944","https://openalex.org/W2137767427","https://openalex.org/W2149841830","https://openalex.org/W2151648288","https://openalex.org/W2169942408","https://openalex.org/W2534421963","https://openalex.org/W2943732532","https://openalex.org/W2963148304","https://openalex.org/W3107360326","https://openalex.org/W3129469851","https://openalex.org/W3186112034","https://openalex.org/W3210322278","https://openalex.org/W4307647390","https://openalex.org/W4362699483","https://openalex.org/W4386233521","https://openalex.org/W6675457348"],"related_works":["https://openalex.org/W2963148304","https://openalex.org/W2720417647","https://openalex.org/W2554741953","https://openalex.org/W4225163935","https://openalex.org/W4386781757","https://openalex.org/W86933508","https://openalex.org/W2064761790","https://openalex.org/W2663455904","https://openalex.org/W2765089336","https://openalex.org/W2313074614"],"abstract_inverted_index":{"The":[0,24,87],"self-reconfigurable":[1],"modular":[2,22,53],"robotic":[3],"system":[4],"is":[5,29,55,68,97],"a":[6,32,46],"class":[7],"of":[8,19,34,84,111],"robots":[9,54],"that":[10],"can":[11],"alter":[12],"its":[13],"configuration":[14,73],"by":[15],"rearranging":[16],"the":[17,72,92,109,112],"connectivity":[18],"their":[20],"component":[21],"units.":[23],"reconfiguration":[25,35,40,48,59,102],"deformation":[26,49],"planning":[27,50],"problem":[28],"to":[30,37,57,70,100],"find":[31],"sequence":[33],"actions":[36],"transform":[38],"one":[39],"into":[41,74],"another.":[42],"In":[43],"this":[44],"paper,":[45],"hybrid":[47,66],"algorithm":[51,67],"for":[52],"presented":[56],"enable":[58],"between":[60,91],"initial":[61,93],"and":[62,79,94,105],"goal":[63],"configurations.":[64],"A":[65],"developed":[69],"decompose":[71],"subconfigurations":[75],"with":[76],"maximum":[77],"commonality":[78],"implement":[80],"distributed":[81],"dynamic":[82],"mapping":[83,89],"free":[85],"vertices.":[86],"module":[88],"relationship":[90],"target":[95],"configurations":[96],"then":[98],"utilized":[99],"generate":[101],"actions.":[103],"Simulation":[104],"experiment":[106],"results":[107],"verify":[108],"effectiveness":[110],"proposed":[113],"algorithm.":[114]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-11T14:59:36.786465","created_date":"2025-10-10T00:00:00"}
