{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T04:58:52Z","timestamp":1778648332555,"version":"3.51.4"},"reference-count":63,"publisher":"Springer Science and Business Media LLC","issue":"23","license":[{"start":{"date-parts":[[2025,1,30]],"date-time":"2025-01-30T00:00:00Z","timestamp":1738195200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2025,1,30]],"date-time":"2025-01-30T00:00:00Z","timestamp":1738195200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100003246","name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek","doi-asserted-by":"publisher","award":["Hybrid Intelligence Center"],"award-info":[{"award-number":["Hybrid Intelligence Center"]}],"id":[{"id":"10.13039\/501100003246","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003130","name":"Fonds Wetenschappelijk Onderzoek","doi-asserted-by":"publisher","award":["1286223N"],"award-info":[{"award-number":["1286223N"]}],"id":[{"id":"10.13039\/501100003130","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Neural Comput &amp; Applic"],"published-print":{"date-parts":[[2025,8]]},"abstract":"<jats:title>Abstract<\/jats:title>\n          <jats:p>Communication is a widely used mechanism to promote cooperation in multi-agent systems. In the field of emergent communication, agents are typically trained in specific environments: cooperative, competitive or mixed-motive. Motivated by the idea that real-world settings are characterized by incomplete information and that humans face daily interactions under a wide spectrum of incentives, we aim to explore the role of emergent communication when simultaneously exploited across all these contexts. In this work, we pursue this line of research by focusing on social dilemmas. To do this, we developed an extended version of the Public Goods Game, which allows us to train independent reinforcement learning agents simultaneously in different scenarios where incentives are (mis)aligned to various extents. Additionally, agents experience uncertainty in terms of the alignment of their incentives with those of others. We equip agents with the ability to learn a communication policy and study the impact of emergent communication in the face of uncertainty among agents. Our findings show that in settings where all agents have the same level of uncertainty, communication can enhance the cooperation of the whole group. However, in cases of asymmetric uncertainty, the agents that do not face uncertainty learn to use communication to deceive and exploit their uncertain peers.<\/jats:p>","DOI":"10.1007\/s00521-024-10530-6","type":"journal-article","created":{"date-parts":[[2025,1,30]],"date-time":"2025-01-30T09:53:50Z","timestamp":1738230830000},"page":"18899-18932","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Learning in public goods games: the effects of uncertainty and communication on cooperation"],"prefix":"10.1007","volume":"37","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9204-0688","authenticated-orcid":false,"given":"Nicole","family":"Orzan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Erman","family":"Acar","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Davide","family":"Grossi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Roxana","family":"R\u0103dulescu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,1,30]]},"reference":[{"issue":"08","key":"10530_CR1","doi-asserted-by":"publisher","first-page":"18","DOI":"10.1109\/MC.2020.2996587","volume":"53","author":"Z Akata","year":"2020","unstructured":"Akata Z, Balliet D, De Rijke M et al (2020) A research agenda for hybrid intelligence: augmenting human intellect with collaborative, adaptive, responsible, and explainable artificial intelligence. Computer 53(08):18\u201328","journal-title":"Computer"},{"issue":"3","key":"10530_CR2","doi-asserted-by":"publisher","first-page":"291","DOI":"10.1016\/0047-2727(88)90043-6","volume":"37","author":"J Andreoni","year":"1988","unstructured":"Andreoni J (1988) Why free ride?: Strategies and learning in public goods experiments. J Public Econ 37(3):291\u2013304","journal-title":"J Public Econ"},{"key":"10530_CR3","first-page":"15786","volume":"33","author":"B Baker","year":"2020","unstructured":"Baker B (2020) Emergent reciprocity and team formation from randomized uncertain social preferences. Adv Neural Inf Process Syst 33:15786\u201315799","journal-title":"Adv Neural Inf Process Syst"},{"issue":"4","key":"10530_CR4","doi-asserted-by":"publisher","first-page":"709","DOI":"10.1177\/0022002793037004007","volume":"37","author":"J Bendor","year":"1993","unstructured":"Bendor J (1993) Uncertainty and the evolution of cooperation. J Confl Resolut 37(4):709\u2013734","journal-title":"J Confl Resolut"},{"issue":"3","key":"10530_CR5","doi-asserted-by":"publisher","first-page":"221","DOI":"10.1016\/0272-4944(95)90005-5","volume":"15","author":"A Biel","year":"1995","unstructured":"Biel A, G\u00e4rling T (1995) The role of uncertainty in resource dilemmas. J Environ Psychol 15(3):221\u2013233. https:\/\/doi.org\/10.1016\/0272-4944(95)90005-5","journal-title":"J Environ Psychol"},{"issue":"2","key":"10530_CR6","doi-asserted-by":"publisher","first-page":"55","DOI":"10.3233\/IA-210081","volume":"15","author":"N Brandizzi","year":"2021","unstructured":"Brandizzi N, Grossi D, Iocchi L (2021) Rlupus. Intelligenza Artificiale 15(2):55\u201370","journal-title":"Intelligenza Artificiale"},{"key":"10530_CR7","doi-asserted-by":"crossref","unstructured":"Bu\u015foniu L, Babu\u0161ka R, De\u00a0Schutter B (2010) Multi-agent reinforcement learning: an overview. In: Innovations in multi-agent systems and applications-1, pp 183\u2013221","DOI":"10.1007\/978-3-642-14435-6_7"},{"key":"10530_CR8","unstructured":"Cao K, Lazaridou A, Lanctot M, et\u00a0al (2018) Emergent communication through negotiation. In: 6th International conference on learning representations, ICLR 2018, Vancouver, BC, Canada, April 30\u2013May 3, 2018, conference track proceedings. OpenReview.net"},{"key":"10530_CR9","doi-asserted-by":"crossref","unstructured":"Cheang RM, Brand\u00e3o AA, Sichman JS (2022) Centralized norm enforcement in mixed-motive multiagent reinforcement learning. In: International workshop on coordination, organizations, institutions, norms, and ethics for governance of multi-agent systems. Springer, pp 121\u2013133","DOI":"10.1007\/978-3-031-20845-4_8"},{"key":"10530_CR10","first-page":"1431","volume":"50","author":"VP Crawford","year":"1982","unstructured":"Crawford VP, Sobel J (1982) Strategic information transmission. Econom J Econom Soc 50:1431\u20131451","journal-title":"Econom J Econom Soc"},{"key":"10530_CR11","doi-asserted-by":"crossref","unstructured":"de\u00a0Cote EM, Lazaric A, Restelli M (2006) Learning to cooperate in multi-agent social dilemmas. In: Proceedings of the fifth international joint conference on autonomous agents and multiagent systems, pp 783\u2013785","DOI":"10.1145\/1160633.1160770"},{"key":"10530_CR12","doi-asserted-by":"publisher","unstructured":"Dafoe A, Hughes E, Bachrach Y, et\u00a0al (2020) Open problems in cooperative AI. https:\/\/doi.org\/10.48550\/ARXIV.2012.08630. arxiv:2012.08630","DOI":"10.48550\/ARXIV.2012.08630"},{"key":"10530_CR13","doi-asserted-by":"crossref","unstructured":"Dafoe A, Bachrach Y, Hadfield G, et\u00a0al (2021) Cooperative AI: machines must learn to find common ground","DOI":"10.1038\/d41586-021-01170-0"},{"issue":"1","key":"10530_CR14","doi-asserted-by":"publisher","first-page":"169","DOI":"10.1146\/annurev.ps.31.020180.001125","volume":"31","author":"RM Dawes","year":"1980","unstructured":"Dawes RM (1980) Social dilemmas. Annu Rev Psychol 31(1):169\u2013193","journal-title":"Annu Rev Psychol"},{"issue":"1","key":"10530_CR15","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1037\/0022-3514.35.1.1","volume":"35","author":"RM Dawes","year":"1977","unstructured":"Dawes RM, McTavish J, Shaklee H (1977) Behavior, communication, and assumptions about other people\u2019s behavior in a commons dilemma situation. J Pers Soc Psychol 35(1):1","journal-title":"J Pers Soc Psychol"},{"issue":"2","key":"10530_CR16","doi-asserted-by":"publisher","first-page":"155","DOI":"10.1016\/j.evolhumbehav.2021.12.003","volume":"43","author":"P Deutchman","year":"2022","unstructured":"Deutchman P, Amir D, Jordan MR et al (2022) Common knowledge promotes cooperation in the threshold public goods game by reducing uncertainty. Evol Hum Behav 43(2):155\u2013167","journal-title":"Evol Hum Behav"},{"issue":"2","key":"10530_CR17","doi-asserted-by":"publisher","first-page":"129","DOI":"10.1177\/001872674900200204","volume":"2","author":"M Deutsch","year":"1949","unstructured":"Deutsch M (1949) A theory of co-operation and competition. Hum Relat 2(2):129\u2013152","journal-title":"Hum Relat"},{"key":"10530_CR18","first-page":"275","volume":"2","author":"M Deutsch","year":"2012","unstructured":"Deutsch M (2012) A theory of cooperation-competition and beyond. Handb Theories Soc Psychol 2:275\u2013294","journal-title":"Handb Theories Soc Psychol"},{"issue":"4","key":"10530_CR19","doi-asserted-by":"publisher","first-page":"517","DOI":"10.1016\/S0167-2681(98)00048-1","volume":"35","author":"DL Dickinson","year":"1998","unstructured":"Dickinson DL (1998) The voluntary contributions mechanism with uncertain group payoffs. J Econ Behav Organ 35(4):517\u2013533","journal-title":"J Econ Behav Organ"},{"key":"10530_CR20","unstructured":"Eccles T, Bachrach Y, Lever G, et\u00a0al (2019) Biases for emergent communication in multi-agent reinforcement learning. In: Advances in neural information processing systems, vol 32"},{"key":"10530_CR21","unstructured":"Evtimova K, Drozdov A, Kiela D, et\u00a0al (2018) Emergent communication in a multi-modal, multi-step referential game. In: 6th International conference on learning representations, ICLR 2018"},{"issue":"1","key":"10530_CR22","doi-asserted-by":"publisher","first-page":"195","DOI":"10.1007\/s00355-013-0763-x","volume":"43","author":"U Fischbacher","year":"2014","unstructured":"Fischbacher U, Schudy S, Teyssier S (2014) Heterogeneous reactions to heterogeneity in returns from public goods. Soc Choice Welf 43(1):195\u2013217","journal-title":"Soc Choice Welf"},{"key":"10530_CR23","unstructured":"Foerster J, Assael IA, De\u00a0Freitas N, et\u00a0al (2016) Learning to communicate with deep multi-agent reinforcement learning. In: Advances in neural information processing systems, vol 29"},{"key":"10530_CR24","doi-asserted-by":"crossref","unstructured":"Foerster J, Farquhar G, Afouras T, et\u00a0al (2018) Counterfactual multi-agent policy gradients. In: Proceedings of the AAAI conference on artificial intelligence","DOI":"10.1609\/aaai.v32i1.11794"},{"key":"10530_CR25","unstructured":"Foerster JN, Assael YM, de\u00a0Freitas N, et\u00a0al (2016) Learning to communicate to solve riddles with deep distributed recurrent Q-networks. arXiv preprint arXiv:1602.02672"},{"key":"10530_CR26","unstructured":"Havrylov S, Titov I (2017) Emergence of language with multi-agent games: learning to communicate with sequences of symbols. In: Advances in neural information processing systems, vol 30"},{"issue":"3","key":"10530_CR27","doi-asserted-by":"publisher","first-page":"88","DOI":"10.1038\/scientificamerican0960-88","volume":"203","author":"CF Hockett","year":"1960","unstructured":"Hockett CF, Hockett CD (1960) The origin of speech. Sci Am 203(3):88\u201397","journal-title":"Sci Am"},{"key":"10530_CR28","unstructured":"Hughes E, Leibo JZ, Phillips M, et\u00a0al (2018) Inequity aversion improves cooperation in intertemporal social dilemmas. In: Advances in neural information processing systems, vol 31"},{"key":"10530_CR29","unstructured":"Jaques N, Lazaridou A, Hughes E, et\u00a0al (2019) Social influence as intrinsic motivation for multi-agent deep reinforcement learning. In: Chaudhuri K, Salakhutdinov R (eds) Proceedings of the 36th international conference on machine learning, proceedings of machine learning research, vol\u00a097. PMLR, pp 3040\u20133049. https:\/\/proceedings.mlr.press\/v97\/jaques19a.html"},{"key":"10530_CR30","unstructured":"Jiang J, Dun C, Huang T, et\u00a0al (2020) Graph convolutional reinforcement learning. In: International conference on learning representations (ICLR 2020)"},{"key":"10530_CR31","volume-title":"Cooperation and competition: theory and research","author":"DW Johnson","year":"1989","unstructured":"Johnson DW, Johnson RT (1989) Cooperation and competition: theory and research. Interaction Book Company, Kanagawa-ken"},{"key":"10530_CR32","doi-asserted-by":"publisher","unstructured":"Kasai T, Tenmoto H, Kamiya A (2008) Learning of communication codes in multi-agent reinforcement learning problem. In: 2008 IEEE conference on soft computing in industrial applications, pp 1\u20136. https:\/\/doi.org\/10.1109\/SMCIA.2008.5045926","DOI":"10.1109\/SMCIA.2008.5045926"},{"key":"10530_CR33","doi-asserted-by":"publisher","first-page":"183","DOI":"10.1146\/annurev.soc.24.1.183","volume":"24","author":"P Kollock","year":"1998","unstructured":"Kollock P (1998) Social dilemmas: the anatomy of cooperation. Annu Rev Sociol 24:183\u2013214","journal-title":"Annu Rev Sociol"},{"key":"10530_CR34","unstructured":"Krishnamurthy S (2001) Communication effects in public good games with and without provision points. In: Research in experimental economics. Emerald Group Publishing Limited"},{"key":"10530_CR35","unstructured":"Lazaridou A, Baroni M (2020) Emergent multi-agent communication in the deep learning era. CoRR abs\/2006.02419. arxiv:2006.02419"},{"key":"10530_CR36","unstructured":"Lazaridou A, Peysakhovich A, Baroni M (2017) Multi-agent cooperation and the emergence of (natural) language. In: 5th International conference on learning representations, ICLR 2017, Toulon, France, April 24\u201326, 2017, conference track proceedings. OpenReview.net. https:\/\/openreview.net\/forum?id=Hk8N3Sclg"},{"key":"10530_CR37","unstructured":"Lazaridou A, Hermann KM, Tuyls K, et\u00a0al (2018) Emergence of linguistic communication from referential games with symbolic and pixel input. In: International conference on learning representations. https:\/\/openreview.net\/forum?id=HJGv1Z-AW"},{"key":"10530_CR38","unstructured":"Leibo JZ, Zambaldi V, Lanctot M, et\u00a0al (2017) Multi-agent reinforcement learning in sequential social dilemmas. In: Proceedings of the 16th conference on autonomous agents and multiagent systems, pp 464\u2013473"},{"issue":"1","key":"10530_CR39","doi-asserted-by":"publisher","first-page":"199","DOI":"10.1007\/s11127-008-9346-2","volume":"138","author":"MV Levati","year":"2009","unstructured":"Levati MV, Morone A, Fiore A (2009) Voluntary contributions with imperfect information: an experimental study. Public Choice 138(1):199\u2013216","journal-title":"Public Choice"},{"issue":"1","key":"10530_CR40","first-page":"1","volume":"2","author":"K Leyton-Brown","year":"2008","unstructured":"Leyton-Brown K, Shoham Y (2008) Essentials of game theory: a concise multidisciplinary introduction. Synth Lect Artif Intell Mach Learn 2(1):1\u201388","journal-title":"Synth Lect Artif Intell Mach Learn"},{"key":"10530_CR41","unstructured":"Liang PP, Chen J, Salakhutdinov R, et\u00a0al (2020) On emergent communication in competitive multi-agent teams. In: Proceedings of the 19th international conference on autonomous agents and multiagent systems, pp 735\u2013743"},{"key":"10530_CR42","doi-asserted-by":"crossref","unstructured":"Lohse O, P\u00fctz N, H\u00f6rmann K (2021) Implementing an online scheduling approach for production with multi agent proximal policy optimization (mappo). In: Advances in production management systems. Artificial intelligence for sustainable and resilient production systems: IFIP WG 5.7 international conference, APMS 2021, Nantes, France, September 5\u20139, 2021, proceedings, part V. Springer, pp 586\u2013595","DOI":"10.1007\/978-3-030-85914-5_62"},{"key":"10530_CR43","unstructured":"Lowe R, Foerster J, Boureau YL, et\u00a0al (2019) On the pitfalls of measuring emergent communication. In: Proceedings of the 18th international conference on autonomous agents and multiagent systems, pp 693\u2013701"},{"key":"10530_CR44","doi-asserted-by":"crossref","unstructured":"ManChon U, Li Z (2010) Public goods game simulator with reinforcement learning agents. In: 2010 Ninth international conference on machine learning and applications. IEEE, pp 43\u201349","DOI":"10.1109\/ICMLA.2010.14"},{"issue":"7540","key":"10530_CR45","doi-asserted-by":"publisher","first-page":"529","DOI":"10.1038\/nature14236","volume":"518","author":"V Mnih","year":"2015","unstructured":"Mnih V, Kavukcuoglu K, Silver D et al (2015) Human-level control through deep reinforcement learning. Nature 518(7540):529\u2013533","journal-title":"Nature"},{"key":"10530_CR46","unstructured":"Noukhovitch M, LaCroix T, Lazaridou A, et\u00a0al (2021) Emergent communication under competition. In: Proceedings of the 20th international conference on autonomous agents and multiagent systems, pp 974\u2013982"},{"key":"10530_CR47","unstructured":"O\u2019Callaghan D, Mannion P (2021) Tunable behaviours in sequential social dilemmas using multi-objective reinforcement learning. In: Proceedings of the 20th international conference on autonomous agents and multiagent systems, pp 1610\u20131612"},{"key":"10530_CR48","first-page":"1","volume":"53","author":"A Oroojlooy","year":"2022","unstructured":"Oroojlooy A, Hajinezhad D (2022) A review of cooperative multi-agent deep reinforcement learning. Appl Intell 53:1\u201346","journal-title":"Appl Intell"},{"key":"10530_CR49","doi-asserted-by":"publisher","first-page":"387","DOI":"10.1007\/s10458-005-2631-2","volume":"11","author":"L Panait","year":"2005","unstructured":"Panait L, Luke S (2005) Cooperative multi-agent learning: the state of the art. Auton Agent Multi-Agent Syst 11:387\u2013434","journal-title":"Auton Agent Multi-Agent Syst"},{"key":"10530_CR50","first-page":"2825","volume":"12","author":"F Pedregosa","year":"2011","unstructured":"Pedregosa F, Varoquaux G, Gramfort A et al (2011) Scikit-learn: machine learning in Python. J Mach Learn Res 12:2825\u20132830","journal-title":"J Mach Learn Res"},{"key":"10530_CR51","doi-asserted-by":"crossref","unstructured":"Pennisi E (2009) On the origin of cooperation","DOI":"10.1126\/science.325_1196"},{"issue":"3","key":"10530_CR52","doi-asserted-by":"publisher","first-page":"203","DOI":"10.1177\/002200275800200301","volume":"2","author":"TC Schelling","year":"1958","unstructured":"Schelling TC (1958) The strategy of conflict. Prospectus for a reorientation of game theory. J Confl Resolut 2(3):203\u2013264","journal-title":"J Confl Resolut"},{"key":"10530_CR53","unstructured":"Singh A, Jain T, Sukhbaatar S (2019) Learning when to communicate at scale in multiagent cooperative and competitive tasks. In: International conference on learning representations"},{"key":"10530_CR54","unstructured":"Sukhbaatar S, Fergus R, et\u00a0al (2016) Learning multiagent communication with backpropagation. In: Advances in neural information processing systems, vol 29"},{"key":"10530_CR55","volume-title":"Reinforcement learning: an introduction","author":"RS Sutton","year":"2018","unstructured":"Sutton RS, Barto AG (2018) Reinforcement learning: an introduction. MIT Press, Cambridge"},{"key":"10530_CR56","unstructured":"Sutton RS, McAllester D, Singh S, et\u00a0al (1999) Policy gradient methods for reinforcement learning with function approximation. In: Advances in neural information processing systems, p 12"},{"key":"10530_CR57","first-page":"15032","volume":"34","author":"J Terry","year":"2021","unstructured":"Terry J, Black B, Grammel N et al (2021) Pettingzoo: gym for multi-agent reinforcement learning. Adv Neural Inf Process Syst 34:15032\u201315043","journal-title":"Adv Neural Inf Process Syst"},{"key":"10530_CR58","doi-asserted-by":"publisher","unstructured":"Vanneste A, Wijnsberghe WV, Vanneste S, et\u00a0al (2021) Mixed cooperative-competitive communication using multi-agent reinforcement learning. In: Advances on P2P, parallel, grid, cloud and internet computing. Springer, pp 197\u2013206. https:\/\/doi.org\/10.1007\/978-3-030-89899-1_20","DOI":"10.1007\/978-3-030-89899-1_20"},{"key":"10530_CR59","first-page":"279","volume":"8","author":"CJ Watkins","year":"1992","unstructured":"Watkins CJ, Dayan P (1992) Q-learning. Mach Learn 8:279\u2013292","journal-title":"Mach Learn"},{"issue":"3","key":"10530_CR60","doi-asserted-by":"publisher","first-page":"229","DOI":"10.1023\/A:1022672621406","volume":"8","author":"RJ Williams","year":"1992","unstructured":"Williams RJ (1992) Simple statistical gradient-following algorithms for connectionist reinforcement learning. Mach Learn 8(3):229\u2013256","journal-title":"Mach Learn"},{"issue":"2","key":"10530_CR61","doi-asserted-by":"publisher","first-page":"249","DOI":"10.1002\/(SICI)1099-0992(199803\/04)28:2<249::AID-EJSP868>3.0.CO;2-J","volume":"28","author":"A Wit","year":"1998","unstructured":"Wit A, Wilke H (1998) Public good provision under environmental and social uncertainty. Eur J Soc Psychol 28(2):249\u2013256","journal-title":"Eur J Soc Psychol"},{"key":"10530_CR62","first-page":"24611","volume":"35","author":"C Yu","year":"2022","unstructured":"Yu C, Velu A, Vinitsky E et al (2022) The surprising effectiveness of PPO in cooperative multi-agent games. Adv Neural Inf Process Syst 35:24611\u201324624","journal-title":"Adv Neural Inf Process Syst"},{"key":"10530_CR63","doi-asserted-by":"crossref","unstructured":"Zhang K, Yang Z, Ba\u015far T (2021) Multi-agent reinforcement learning: a selective overview of theories and algorithms. In: Handbook of reinforcement learning and control, pp 321\u2013384","DOI":"10.1007\/978-3-030-60990-0_12"}],"container-title":["Neural Computing and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-024-10530-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s00521-024-10530-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-024-10530-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,6]],"date-time":"2025-09-06T03:58:54Z","timestamp":1757131134000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s00521-024-10530-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,1,30]]},"references-count":63,"journal-issue":{"issue":"23","published-print":{"date-parts":[[2025,8]]}},"alternative-id":["10530"],"URL":"https:\/\/doi.org\/10.1007\/s00521-024-10530-6","relation":{},"ISSN":["0941-0643","1433-3058"],"issn-type":[{"value":"0941-0643","type":"print"},{"value":"1433-3058","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,1,30]]},"assertion":[{"value":"17 November 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 October 2024","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"30 January 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no conflict of interest to declare that are relevant to the content of this article.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}