{"id":"https://openalex.org/W2119821952","doi":"https://doi.org/10.1109/sis.2011.5952577","title":"The Robot Formation Language — A formal description of formations for collective robots","display_name":"The Robot Formation Language — A formal description of formations for collective robots","publication_year":2011,"publication_date":"2011-04-01","ids":{"openalex":"https://openalex.org/W2119821952","doi":"https://doi.org/10.1109/sis.2011.5952577","mag":"2119821952"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/sis.2011.5952577","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065605983","display_name":"Lutz Winkler","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"funder","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lutz Winkler","raw_affiliation_strings":["[Institute for Process Control and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany]"],"affiliations":[{"raw_affiliation_string":"[Institute for Process Control and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany]","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036516251","display_name":"Alexander Kettler","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"funder","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Kettler","raw_affiliation_strings":["[Institute for Process Control and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany]"],"affiliations":[{"raw_affiliation_string":"[Institute for Process Control and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany]","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086396647","display_name":"M. Szymanski","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"funder","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Szymanski","raw_affiliation_strings":["[Institute for Process Control and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany]"],"affiliations":[{"raw_affiliation_string":"[Institute for Process Control and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany]","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091849797","display_name":"Heinz W\u00f6rn","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"funder","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Heinz Worn","raw_affiliation_strings":["[Institute for Process Control and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany]"],"affiliations":[{"raw_affiliation_string":"[Institute for Process Control and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany]","institution_ids":["https://openalex.org/I102335020"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.879,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":7,"citation_normalized_percentile":{"value":0.774434,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":82,"max":83},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9785,"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/T12288","display_name":"Optimization and Search Problems","score":0.9743,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.7744881},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm Robotics","score":0.6601018}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.85073507},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.7997571},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.7744881},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.67203},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.6601018},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6297988},{"id":"https://openalex.org/C137858568","wikidata":"https://www.wikidata.org/wiki/Q7239","display_name":"Organism","level":2,"score":0.47510418},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.45836315},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45418867},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40066165},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.37071294},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.36534104},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.16657937},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1499686},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/sis.2011.5952577","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":18,"referenced_works":["https://openalex.org/W1509312879","https://openalex.org/W1548165715","https://openalex.org/W1572565176","https://openalex.org/W1842657089","https://openalex.org/W1953874888","https://openalex.org/W1968807469","https://openalex.org/W2007079513","https://openalex.org/W2022069407","https://openalex.org/W2036070388","https://openalex.org/W2073764475","https://openalex.org/W2080509217","https://openalex.org/W2098764734","https://openalex.org/W2117998504","https://openalex.org/W2161011213","https://openalex.org/W2163148932","https://openalex.org/W2167382904","https://openalex.org/W2240585996","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W65954170","https://openalex.org/W617387166","https://openalex.org/W4233987368","https://openalex.org/W4229451618","https://openalex.org/W3094438089","https://openalex.org/W2518382144","https://openalex.org/W2350154411","https://openalex.org/W1988876749","https://openalex.org/W1871202614","https://openalex.org/W1600534566"],"abstract_inverted_index":{"In":[0],"this":[1,151],"paper":[2],"we":[3,90,137],"will":[4,138],"present":[5],"the":[6,16,82,101,127,132,135,148,157,160,169,184,206,214],"Robot":[7],"Formation":[8],"Language":[9],"(RFL),":[10],"a":[11,64,85,97,113,122,140,172,192],"topology":[12],"description":[13],"language":[14],"for":[15,46,150,199,205],"formation":[17,170],"of":[18,84,96,159,171,187],"multi":[19,39,173],"robot":[20,24,29,40,53,87,98,115,174],"systems,":[21],"such":[22,72],"as":[23,35,37,55,73,129,131,191],"swarms":[25],"or":[26,77,190],"self-reconfigurable":[27],"modular":[28,47,86,114],"platforms.":[30,41],"The":[31],"RFL":[32,162],"supports":[33,70],"homogeneous":[34],"well":[36,130],"heterogeneous":[38],"This":[42],"is":[43,118,202],"important":[44,119],"especially":[45],"robots":[48,60,103,208],"(we":[49],"also":[50,58,179,203],"call":[51],"them":[52],"organisms),":[54],"there":[56],"can":[57,153,178],"be":[59,154,165,180],"included":[61],"which":[62,80,125],"have":[63,104,121],"different":[65,196],"kinematic":[66,185],"behaviour.":[67],"Additionally,":[68],"it":[69,117,177],"tools,":[71],"active":[74],"wheels,":[75],"grippers":[76],"structural":[78],"elements,":[79],"enhance":[81],"capabilities":[83,105],"platform.":[88],"As":[89],"focus":[91],"on":[92],"creating":[93],"organisms":[94],"out":[95],"swarm":[99,102,128,207],"(i.e.":[100],"to":[106,108,111,120,167,182,194,209],"connect":[107],"each":[109],"other":[110],"build":[112],"organism),":[116],"common":[123],"language,":[124],"describes":[126],"organism.":[133],"Using":[134],"RFL,":[136],"define":[139],"distance":[141],"between":[142],"two":[143],"formations":[144],"and":[145],"describe":[146,168],"how":[147],"calculation":[149],"purpose":[152],"distributed":[155],"among":[156],"members":[158],"collective.":[161],"cannot":[163],"only":[164],"used":[166,181],"system,":[175],"but":[176],"retrieve":[183],"chain":[186],"an":[188],"organism":[189,197],"genome":[193],"evolve":[195],"shapes":[198],"example.":[200],"It":[201],"useful":[204],"identify":[210],"their":[211],"position":[212],"in":[213],"swarm.":[215]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2119821952","counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-02-18T11:15:34.649828","created_date":"2016-06-24"}