{"id":"https://openalex.org/W7128682483","doi":"https://doi.org/10.48550/arxiv.2602.10561","title":"Morphogenetic Assembly and Adaptive Control for Heterogeneous Modular Robots","display_name":"Morphogenetic Assembly and Adaptive Control for Heterogeneous Modular Robots","publication_year":2026,"publication_date":"2026-02-11","ids":{"openalex":"https://openalex.org/W7128682483","doi":"https://doi.org/10.48550/arxiv.2602.10561"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.10561","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5125758545","display_name":"Chongxi Meng","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Meng, Chongxi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125737774","display_name":"Da Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Da","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125715446","display_name":"Yifei Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Yifei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104633429","display_name":"Minghao Zeng","orcid":"https://orcid.org/0009-0000-7073-2192"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeng, Minghao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125768466","display_name":"Yanmin Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Yanmin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125730936","display_name":"Zhipeng Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Zhipeng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5125694301","display_name":"Bin He","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Bin","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5125758545"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.991599977016449,"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":0.991599977016449,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.0027000000700354576,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.000699999975040555,"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":0.7142000198364258},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6693000197410583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5695000290870667},{"id":"https://openalex.org/keywords/simulated-annealing","display_name":"Simulated annealing","score":0.5425999760627747},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5115000009536743},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.45820000767707825},{"id":"https://openalex.org/keywords/motion-controller","display_name":"Motion controller","score":0.43320000171661377},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.38440001010894775},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.37869998812675476}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7142000198364258},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6693000197410583},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6553999781608582},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5695000290870667},{"id":"https://openalex.org/C126980161","wikidata":"https://www.wikidata.org/wiki/Q863783","display_name":"Simulated annealing","level":2,"score":0.5425999760627747},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5115000009536743},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.45820000767707825},{"id":"https://openalex.org/C2778420160","wikidata":"https://www.wikidata.org/wiki/Q6917780","display_name":"Motion controller","level":4,"score":0.43320000171661377},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.38440001010894775},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3815000057220459},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.37869998812675476},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.37599998712539673},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.36719998717308044},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.36399999260902405},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.36059999465942383},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.35929998755455017},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.3544999957084656},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.3310999870300293},{"id":"https://openalex.org/C51823790","wikidata":"https://www.wikidata.org/wiki/Q504353","display_name":"Greedy algorithm","level":2,"score":0.28369998931884766},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.28119999170303345},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.2759000062942505},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2745000123977661},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.26910001039505005},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.26429998874664307},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.25760000944137573},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.25679999589920044},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2565000057220459},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.2547000050544739},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2542000114917755}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.10561","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.10561","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.10561","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.10561","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0,92],"paper":[1],"presents":[2],"a":[3,24,61,68,113,125],"closed-loop":[4],"automation":[5],"framework":[6,200],"for":[7,155],"heterogeneous":[8,28,57,159],"modular":[9],"robots,":[10],"covering":[11],"the":[12,52,64,80,138,150,162,173,202],"full":[13],"pipeline":[14],"from":[15,99],"morphological":[16],"construction":[17],"to":[18,37,75,87,131],"adaptive":[19,104],"control.":[20,144],"In":[21],"this":[22],"framework,":[23],"mobile":[25],"manipulator":[26],"handles":[27],"functional":[29],"modules":[30,36],"including":[31,205],"structural,":[32],"joint,":[33],"and":[34,43,135,189,210,212],"wheeled":[35],"dynamically":[38],"assemble":[39],"diverse":[40],"robot":[41,208],"configurations":[42],"provide":[44],"them":[45],"with":[46,72,167],"immediate":[47],"locomotion":[48],"capability.":[49],"To":[50],"address":[51],"state-space":[53],"explosion":[54],"in":[55,158,184],"large-scale":[56],"reconfiguration,":[58],"we":[59,111],"propose":[60],"hierarchical":[62],"planner:":[63],"high-level":[65],"planner":[66,83],"uses":[67],"bidirectional":[69],"heuristic":[70,164],"search":[71,86],"type-penalty":[73,151],"terms":[74],"generate":[76],"module-handling":[77],"sequences,":[78],"while":[79],"low":[81],"level":[82],"employs":[84],"A*":[85],"compute":[88],"optimal":[89],"execution":[90,170],"trajectories.":[91],"design":[93],"effectively":[94],"decouples":[95],"discrete":[96],"configuration":[97],"planning":[98,156],"continuous":[100],"motion":[101,105,143,214],"execution.":[102],"For":[103],"generation":[106],"of":[107],"unknown":[108],"assembled":[109],"configurations,":[110],"introduce":[112],"GPU":[114],"accelerated":[115],"Annealing-Variance":[116],"Model":[117],"Predictive":[118],"Path":[119],"Integral":[120],"(MPPI)":[121],"controller.":[122],"By":[123],"incorporating":[124],"multi":[126],"stage":[127],"variance":[128],"annealing":[129],"strategy":[130],"balance":[132],"global":[133],"exploration":[134],"local":[136],"convergence,":[137],"controller":[139],"enables":[140],"configuration-agnostic,":[141],"real-time":[142],"Large":[145],"scale":[146],"simulations":[147],"show":[148],"that":[149],"term":[152],"is":[153],"critical":[154],"robustness":[157],"scenarios.":[160],"Moreover,":[161],"greedy":[163],"produces":[165],"plans":[166],"lower":[168],"physical":[169],"costs":[171],"than":[172],"Hungarian":[174],"heuristic.":[175],"The":[176,199],"proposed":[177],"annealing-variance":[178],"MPPI":[179,183],"significantly":[180],"outperforms":[181],"standard":[182],"both":[185],"velocity":[186],"tracking":[187],"accuracy":[188],"control":[190,195],"frequency,":[191],"achieving":[192],"real":[193],"time":[194],"at":[196],"50":[197],"Hz.":[198],"validates":[201],"full-cycle":[203],"process,":[204],"module":[206],"assembly,":[207],"merging":[209],"splitting,":[211],"dynamic":[213],"generation.":[215]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-02-13T00:00:00"}
