{"id":"https://openalex.org/W4410518563","doi":"https://doi.org/10.3390/sym17050789","title":"An Improved Bee Colony Optimization Algorithm Using a Sugeno\u2013Takagi Interval Type-2 Fuzzy Logic System for the Optimal Design of Stable Autonomous Mobile Robot Controllers","display_name":"An Improved Bee Colony Optimization Algorithm Using a Sugeno\u2013Takagi Interval Type-2 Fuzzy Logic System for the Optimal Design of Stable Autonomous Mobile Robot Controllers","publication_year":2025,"publication_date":"2025-05-20","ids":{"openalex":"https://openalex.org/W4410518563","doi":"https://doi.org/10.3390/sym17050789"},"language":"en","primary_location":{"id":"doi:10.3390/sym17050789","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym17050789","pdf_url":"https://www.mdpi.com/2073-8994/17/5/789/pdf?version=1747704786","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"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":"Symmetry","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2073-8994/17/5/789/pdf?version=1747704786","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018880253","display_name":"Leticia Amador-Angulo","orcid":"https://orcid.org/0000-0001-6771-8007"},"institutions":[{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"government","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4405258672"]},{"id":"https://openalex.org/I4210118730","display_name":"Instituto Tecnol\u00f3gico de Tijuana","ror":"https://ror.org/03dga7879","country_code":"MX","type":"education","lineage":["https://openalex.org/I4210118730"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Leticia Amador-Angulo","raw_affiliation_strings":["Division of Graduate Studies and Research, Tijuana Institute of Technology, TecNM, Tijuana 22379, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Graduate Studies and Research, Tijuana Institute of Technology, TecNM, Tijuana 22379, Mexico","institution_ids":["https://openalex.org/I4210118730","https://openalex.org/I4210090124"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090320352","display_name":"Patricia Mel\u00edn","orcid":"https://orcid.org/0000-0001-5798-1426"},"institutions":[{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"government","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4405258672"]},{"id":"https://openalex.org/I4210118730","display_name":"Instituto Tecnol\u00f3gico de Tijuana","ror":"https://ror.org/03dga7879","country_code":"MX","type":"education","lineage":["https://openalex.org/I4210118730"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Patricia Melin","raw_affiliation_strings":["Division of Graduate Studies and Research, Tijuana Institute of Technology, TecNM, Tijuana 22379, Mexico"],"raw_orcid":"https://orcid.org/0000-0001-5798-1426","affiliations":[{"raw_affiliation_string":"Division of Graduate Studies and Research, Tijuana Institute of Technology, TecNM, Tijuana 22379, Mexico","institution_ids":["https://openalex.org/I4210118730","https://openalex.org/I4210090124"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048223855","display_name":"Oscar Castillo","orcid":"https://orcid.org/0000-0002-7385-5689"},"institutions":[{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"government","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4405258672"]},{"id":"https://openalex.org/I4210118730","display_name":"Instituto Tecnol\u00f3gico de Tijuana","ror":"https://ror.org/03dga7879","country_code":"MX","type":"education","lineage":["https://openalex.org/I4210118730"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Oscar Castillo","raw_affiliation_strings":["Division of Graduate Studies and Research, Tijuana Institute of Technology, TecNM, Tijuana 22379, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-7385-5689","affiliations":[{"raw_affiliation_string":"Division of Graduate Studies and Research, Tijuana Institute of Technology, TecNM, Tijuana 22379, Mexico","institution_ids":["https://openalex.org/I4210118730","https://openalex.org/I4210090124"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5048223855"],"corresponding_institution_ids":["https://openalex.org/I4210090124","https://openalex.org/I4210118730"],"apc_list":{"value":2000,"currency":"CHF","value_usd":2165},"apc_paid":{"value":2000,"currency":"CHF","value_usd":2165},"fwci":1.396,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.83640354,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"17","issue":"5","first_page":"789","last_page":"789"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.9995999932289124,"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/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.9995999932289124,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9864000082015991,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T12135","display_name":"Fuzzy Systems and Optimization","score":0.9678000211715698,"subfield":{"id":"https://openalex.org/subfields/2613","display_name":"Statistics and Probability"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/interval","display_name":"Interval (graph theory)","score":0.6836960911750793},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.6055518984794617},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5866650342941284},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5172432065010071},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5048490166664124},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.49383124709129333},{"id":"https://openalex.org/keywords/type","display_name":"Type (biology)","score":0.4758062958717346},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.4322960376739502},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3562760353088379},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34821364283561707},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.32115429639816284},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2667926549911499},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1821332573890686},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07079413533210754}],"concepts":[{"id":"https://openalex.org/C2778067643","wikidata":"https://www.wikidata.org/wiki/Q166507","display_name":"Interval (graph theory)","level":2,"score":0.6836960911750793},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6055518984794617},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5866650342941284},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5172432065010071},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5048490166664124},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.49383124709129333},{"id":"https://openalex.org/C2777299769","wikidata":"https://www.wikidata.org/wiki/Q3707858","display_name":"Type (biology)","level":2,"score":0.4758062958717346},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.4322960376739502},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3562760353088379},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34821364283561707},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.32115429639816284},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2667926549911499},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1821332573890686},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07079413533210754},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3390/sym17050789","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym17050789","pdf_url":"https://www.mdpi.com/2073-8994/17/5/789/pdf?version=1747704786","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"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":"Symmetry","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.3390/sym17050789","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym17050789","pdf_url":"https://www.mdpi.com/2073-8994/17/5/789/pdf?version=1747704786","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"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":"Symmetry","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4410518563.pdf","grobid_xml":"https://content.openalex.org/works/W4410518563.grobid-xml"},"referenced_works_count":60,"referenced_works":["https://openalex.org/W1538951471","https://openalex.org/W1614673366","https://openalex.org/W2035329633","https://openalex.org/W2052757825","https://openalex.org/W2074906797","https://openalex.org/W2105234323","https://openalex.org/W2108516110","https://openalex.org/W2111361149","https://openalex.org/W2132885717","https://openalex.org/W2141178894","https://openalex.org/W2162706466","https://openalex.org/W2187138110","https://openalex.org/W2308507486","https://openalex.org/W2492748228","https://openalex.org/W2508549852","https://openalex.org/W2525380423","https://openalex.org/W2614510405","https://openalex.org/W2965883839","https://openalex.org/W3096377362","https://openalex.org/W3181477148","https://openalex.org/W4211007335","https://openalex.org/W4213117244","https://openalex.org/W4240278385","https://openalex.org/W4254931243","https://openalex.org/W4295007490","https://openalex.org/W4308118541","https://openalex.org/W4313268849","https://openalex.org/W4390095770","https://openalex.org/W4390467714","https://openalex.org/W4390629889","https://openalex.org/W4390968295","https://openalex.org/W4391051462","https://openalex.org/W4391099666","https://openalex.org/W4398174199","https://openalex.org/W4399329729","https://openalex.org/W4400643246","https://openalex.org/W4400976544","https://openalex.org/W4403384807","https://openalex.org/W4403407267","https://openalex.org/W4404615637","https://openalex.org/W4404728968","https://openalex.org/W4404820986","https://openalex.org/W4405146347","https://openalex.org/W4405659025","https://openalex.org/W4406075509","https://openalex.org/W4406657335","https://openalex.org/W4406838241","https://openalex.org/W4406870972","https://openalex.org/W4407130662","https://openalex.org/W4407159508","https://openalex.org/W4407175652","https://openalex.org/W4407615654","https://openalex.org/W4407673559","https://openalex.org/W4407699732","https://openalex.org/W4407743327","https://openalex.org/W6630231705","https://openalex.org/W6676626397","https://openalex.org/W6686974049","https://openalex.org/W6859754783","https://openalex.org/W6876848732"],"related_works":["https://openalex.org/W3086618278","https://openalex.org/W2378058392","https://openalex.org/W2006100586","https://openalex.org/W2048848526","https://openalex.org/W1968793341","https://openalex.org/W2103373899","https://openalex.org/W2367223136","https://openalex.org/W2774595050","https://openalex.org/W4300809132","https://openalex.org/W135622916"],"abstract_inverted_index":{"This":[0],"study":[1,30,123],"proposes":[2],"an":[3,69,90,150,153],"enhanced":[4],"Sugeno\u2013Takagi":[5],"interval":[6,154],"type-2":[7],"fuzzy":[8,45,58],"logic":[9,59],"system":[10,60],"(SIT2FLS)":[11],"to":[12,32,48,67,71,81,114,126],"find":[13,72],"the":[14,44,50,73,83,93,108,117,129,139,146],"best":[15,51,74],"values":[16],"for":[17,37,62,79],"two":[18],"important":[19],"parameters":[20,78],"in":[21,43,55],"Bee":[22],"Colony":[23],"Optimization":[24],"(BCO).":[25],"The":[26,105],"aim":[27],"of":[28,92,99,107,116],"this":[29],"was":[31,66,87,110,124,143,157],"develop":[33],"a":[34,38,56,121],"stable":[35],"controller":[36,46],"mobile":[39],"robot":[40,84],"utilizing":[41],"BCO":[42,80,131],"and":[47,76,103,112,149],"determine":[49],"membership":[52],"functions":[53],"(MFs)":[54],"type-1":[57],"(T1FLS)":[61],"control.":[63],"Another":[64],"objective":[65],"use":[68],"SIT2FLS":[70],"\u03b1":[75],"\u03b2":[77],"enhance":[82],"trajectory,":[85],"which":[86],"evaluated":[88,111],"through":[89],"analysis":[91],"mean":[94],"squared":[95],"errors.":[96],"Three":[97],"types":[98],"perturbations":[100],"were":[101],"analyzed":[102],"simulated.":[104],"performance":[106],"SIT2FLS-FBCO":[109],"compared":[113,144],"that":[115,128],"T1FLS-FBCO.":[118],"In":[119],"addition,":[120],"comparative":[122],"performed":[125],"demonstrate":[127],"improved":[130],"works":[132],"well":[133],"when":[134],"there":[135],"are":[136],"disturbances":[137],"affecting":[138],"controller.":[140],"Finally,":[141],"it":[142],"with":[145,152],"Mamdani":[147],"approach,":[148],"FBCO":[151],"type-3":[155],"FLS":[156],"also":[158],"developed.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-15T08:34:33.830935","created_date":"2025-10-10T00:00:00"}