Ontology type: schema:ScholarlyArticle Open Access: True
2019-04
AUTHORSAyan Dutta, Prithviraj Dasgupta, Carl Nelson
ABSTRACTWe consider the problem of configuration formation in modular robot systems where a set of modules that are initially in different configurations and located at different locations are required to assume appropriate positions so that they can get into a new, user-specified, target configuration. We propose a novel algorithm based on (sub)graph isomorphism, where the modules select locations or spots in the target configuration using a utility-based framework, while retaining their original configuration to the greatest extent possible, to reduce the time and energy required by the modules to disconnect and connect multiple times to form the target configuration. We have shown analytically that our proposed algorithm is complete and guarantees a Pareto-optimal allocation. Experimental simulations of our algorithm with different numbers of modules in different initial configurations and located initially at different locations, show that the planning time of our algorithm is nominal (order of msec for 100 modules). We have also compared our algorithm against a market-based allocation algorithm and shown that our proposed algorithm performs better in terms of time and number of messages exchanged. More... »
PAGES837-857
http://scigraph.springernature.com/pub.10.1007/s10514-018-9759-9
DOIhttp://dx.doi.org/10.1007/s10514-018-9759-9
DIMENSIONShttps://app.dimensions.ai/details/publication/pub.1103676270
JSON-LD is the canonical representation for SciGraph data.
TIP: You can open this SciGraph record using an external JSON-LD service: JSON-LD Playground Google SDTT
[
{
"@context": "https://springernature.github.io/scigraph/jsonld/sgcontext.json",
"about": [
{
"id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/0801",
"inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/",
"name": "Artificial Intelligence and Image Processing",
"type": "DefinedTerm"
},
{
"id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/08",
"inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/",
"name": "Information and Computing Sciences",
"type": "DefinedTerm"
}
],
"author": [
{
"affiliation": {
"alternateName": "University of North Florida",
"id": "https://www.grid.ac/institutes/grid.266865.9",
"name": [
"School of Computing, University of North Florida, 32224, Jacksonville, FL, USA"
],
"type": "Organization"
},
"familyName": "Dutta",
"givenName": "Ayan",
"id": "sg:person.014101722457.76",
"sameAs": [
"https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014101722457.76"
],
"type": "Person"
},
{
"affiliation": {
"alternateName": "University of Nebraska at Omaha",
"id": "https://www.grid.ac/institutes/grid.266815.e",
"name": [
"Computer Science Department, University of Nebraska at Omaha, 68182, Omaha, NE, USA"
],
"type": "Organization"
},
"familyName": "Dasgupta",
"givenName": "Prithviraj",
"id": "sg:person.07564630443.95",
"sameAs": [
"https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.07564630443.95"
],
"type": "Person"
},
{
"affiliation": {
"alternateName": "University of Nebraska\u2013Lincoln",
"id": "https://www.grid.ac/institutes/grid.24434.35",
"name": [
"Mechanical and Materials Engineering Department, University of Nebraska-Lincoln, 68588, Lincoln, NE, USA"
],
"type": "Organization"
},
"familyName": "Nelson",
"givenName": "Carl",
"id": "sg:person.0653274561.75",
"sameAs": [
"https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.0653274561.75"
],
"type": "Person"
}
],
"citation": [
{
"id": "https://doi.org/10.1177/0278364907089350",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1002728534"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1177/0278364907089350",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1002728534"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1016/j.robot.2013.08.008",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1002923460"
],
"type": "CreativeWork"
},
{
"id": "sg:pub.10.1007/978-3-642-28073-3_8",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1003749045",
"https://doi.org/10.1007/978-3-642-28073-3_8"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1016/j.artint.2015.02.004",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1007200529"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1145/321921.321925",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1008268655"
],
"type": "CreativeWork"
},
{
"id": "sg:pub.10.1007/978-4-431-55879-8_31",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1011572736",
"https://doi.org/10.1007/978-4-431-55879-8_31"
],
"type": "CreativeWork"
},
{
"id": "sg:pub.10.1023/a:1021271615909",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1013172110",
"https://doi.org/10.1023/a:1021271615909"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1177/027836499801700702",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1019387990"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1177/027836499801700702",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1019387990"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1002/(sici)1097-4563(199605)13:5<317::aid-rob5>3.0.co;2-t",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1027262380"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1080/0022250x.2001.9990249",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1032164704"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1002/nav.3800020109",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1032778056"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1016/j.robot.2013.06.014",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1041073402"
],
"type": "CreativeWork"
},
{
"id": "sg:pub.10.1007/s10514-015-9441-4",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1041112210",
"https://doi.org/10.1007/s10514-015-9441-4"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1177/0278364907084984",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1047077381"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1177/0278364907084984",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1047077381"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1177/0278364907085097",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1047291474"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1177/0278364907085097",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1047291474"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1177/0278364907085560",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1052990673"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1177/0278364907085560",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1052990673"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1109/70.611311",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1061216425"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1109/mcs.2007.384126",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1061397512"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1109/mis.2001.956084",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1061405520"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1109/mra.2007.339623",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1061419457"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1109/tpami.2004.75",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1061742753"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1115/1.4032273",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1062157551"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1126/science.1254295",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1062470000"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1137/0206053",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1062841392"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1287/inte.20.4.133",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1064709314"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1142/9789812797698_0018",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1088726126"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1115/detc2004-57488",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1092825580"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1109/icra.2011.5980269",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1093193512"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1109/istcs.1997.595164",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1093942663"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1109/robot.2010.5509664",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1094209369"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1109/icra.2013.6631316",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1094406949"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1109/iros.2008.4650673",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1095407200"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1109/iros.2004.1389763",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1095444335"
],
"type": "CreativeWork"
},
{
"id": "https://doi.org/10.1109/icra.2016.7487729",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1095773928"
],
"type": "CreativeWork"
},
{
"id": "sg:pub.10.1007/978-3-319-73008-0_24",
"sameAs": [
"https://app.dimensions.ai/details/publication/pub.1101520800",
"https://doi.org/10.1007/978-3-319-73008-0_24"
],
"type": "CreativeWork"
}
],
"datePublished": "2019-04",
"datePublishedReg": "2019-04-01",
"description": "We consider the problem of configuration formation in modular robot systems where a set of modules that are initially in different configurations and located at different locations are required to assume appropriate positions so that they can get into a new, user-specified, target configuration. We propose a novel algorithm based on (sub)graph isomorphism, where the modules select locations or spots in the target configuration using a utility-based framework, while retaining their original configuration to the greatest extent possible, to reduce the time and energy required by the modules to disconnect and connect multiple times to form the target configuration. We have shown analytically that our proposed algorithm is complete and guarantees a Pareto-optimal allocation. Experimental simulations of our algorithm with different numbers of modules in different initial configurations and located initially at different locations, show that the planning time of our algorithm is nominal (order of msec for 100 modules). We have also compared our algorithm against a market-based allocation algorithm and shown that our proposed algorithm performs better in terms of time and number of messages exchanged.",
"genre": "research_article",
"id": "sg:pub.10.1007/s10514-018-9759-9",
"inLanguage": [
"en"
],
"isAccessibleForFree": true,
"isPartOf": [
{
"id": "sg:journal.1031086",
"issn": [
"0929-5593",
"1573-7527"
],
"name": "Autonomous Robots",
"type": "Periodical"
},
{
"issueNumber": "4",
"type": "PublicationIssue"
},
{
"type": "PublicationVolume",
"volumeNumber": "43"
}
],
"name": "Distributed configuration formation with modular robots using (sub)graph isomorphism-based approach",
"pagination": "837-857",
"productId": [
{
"name": "readcube_id",
"type": "PropertyValue",
"value": [
"917b590a93eaf51bd83131e533b0263f3e8b3850655ff2471b0f92a6711a1c14"
]
},
{
"name": "doi",
"type": "PropertyValue",
"value": [
"10.1007/s10514-018-9759-9"
]
},
{
"name": "dimensions_id",
"type": "PropertyValue",
"value": [
"pub.1103676270"
]
}
],
"sameAs": [
"https://doi.org/10.1007/s10514-018-9759-9",
"https://app.dimensions.ai/details/publication/pub.1103676270"
],
"sdDataset": "articles",
"sdDatePublished": "2019-04-11T12:53",
"sdLicense": "https://scigraph.springernature.com/explorer/license/",
"sdPublisher": {
"name": "Springer Nature - SN SciGraph project",
"type": "Organization"
},
"sdSource": "s3://com-uberresearch-data-dimensions-target-20181106-alternative/cleanup/v134/2549eaecd7973599484d7c17b260dba0a4ecb94b/merge/v9/a6c9fde33151104705d4d7ff012ea9563521a3ce/jats-lookup/v90/0000000364_0000000364/records_72847_00000001.jsonl",
"type": "ScholarlyArticle",
"url": "https://link.springer.com/10.1007%2Fs10514-018-9759-9"
}
]
Download the RDF metadata as: json-ld nt turtle xml License info
JSON-LD is a popular format for linked data which is fully compatible with JSON.
curl -H 'Accept: application/ld+json' 'https://scigraph.springernature.com/pub.10.1007/s10514-018-9759-9'
N-Triples is a line-based linked data format ideal for batch operations.
curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1007/s10514-018-9759-9'
Turtle is a human-readable linked data format.
curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1007/s10514-018-9759-9'
RDF/XML is a standard XML format for linked data.
curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1007/s10514-018-9759-9'
This table displays all metadata directly associated to this object as RDF triples.
191 TRIPLES
21 PREDICATES
62 URIs
19 LITERALS
7 BLANK NODES