{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,9]],"date-time":"2026-04-09T05:33:08Z","timestamp":1775712788438,"version":"3.50.1"},"reference-count":56,"publisher":"Springer Science and Business Media LLC","issue":"6","license":[{"start":{"date-parts":[[2021,7,15]],"date-time":"2021-07-15T00:00:00Z","timestamp":1626307200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2021,7,15]],"date-time":"2021-07-15T00:00:00Z","timestamp":1626307200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Sciences Research Council","doi-asserted-by":"publisher","award":["EP\/R026084\/1"],"award-info":[{"award-number":["EP\/R026084\/1"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Sciences Research Council","doi-asserted-by":"publisher","award":["EP\/P01366X\/1"],"award-info":[{"award-number":["EP\/P01366X\/1"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]},{"name":"H2020 Robocoenosis","award":["899520"],"award-info":[{"award-number":["899520"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Mobile Netw Appl"],"published-print":{"date-parts":[[2021,12]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Flocking is a social animals\u2019 common behaviour observed in nature. It has a great potential for real-world applications such as exploration in agri-robotics using low-cost robotic solutions. In this paper, an extended model of a self-organised flocking mechanism using heterogeneous swarm system is proposed. The proposed model for swarm robotic systems is a combination of a collective motion mechanism with obstacle avoidance functions, which ensures a collision-free flocking trajectory for the followers. An optimal control model for the leader is also developed to steer the swarm to a desired goal location. Compared to the conventional methods, by using the proposed model, the swarm network has less requirement for power and storage. The feasibility of the proposed self-organised flocking algorithm is validated by realistic robotic simulation software.<\/jats:p>","DOI":"10.1007\/s11036-021-01785-7","type":"journal-article","created":{"date-parts":[[2021,7,15]],"date-time":"2021-07-15T10:04:25Z","timestamp":1626343465000},"page":"2461-2471","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":24,"title":["Self-Organised Collision-Free Flocking Mechanism in Heterogeneous Robot Swarms"],"prefix":"10.1007","volume":"26","author":[{"given":"Zhe","family":"Ban","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7409-3885","authenticated-orcid":false,"given":"Junyan","family":"Hu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Barry","family":"Lennox","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Farshad","family":"Arvin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2021,7,15]]},"reference":[{"key":"1785_CR1","volume-title":"Self-organization in biological systems","author":"S Camazine","year":"2003","unstructured":"Camazine S, Deneubourg JL, Franks NR, Sneyd J, Bonabeau E, Theraula G (2003) Self-organization in biological systems. Princeton University Press, Princeton"},{"issue":"48","key":"1785_CR2","doi-asserted-by":"publisher","first-page":"12,224","DOI":"10.1073\/pnas.1809140115","volume":"115","author":"AM Hein","year":"2018","unstructured":"Hein AM, Gil MA, Twomey CR, Couzin ID, Levin SA (2018) Conserved behavioral circuits govern high-speed decision-making in wild fish shoals. Proc Nat Acad Sci 115(48):12,224\u201312,228","journal-title":"Proc Nat Acad Sci"},{"issue":"6391","key":"1785_CR3","doi-asserted-by":"publisher","first-page":"911","DOI":"10.1126\/science.aap7781","volume":"360","author":"A Flack","year":"2018","unstructured":"Flack A, Nagy M, Fiedler W, Couzin ID, Wikelski M (2018) From local collective behavior to global migratory patterns in white storks. Science 360(6391):911\u2013914","journal-title":"Science"},{"issue":"1746","key":"1785_CR4","doi-asserted-by":"publisher","first-page":"20170,012","DOI":"10.1098\/rstb.2017.0012","volume":"373","author":"CJ Torney","year":"2018","unstructured":"Torney CJ, Hopcraft JGC, Morrison TA, Couzin ID, Levin SA (2018) From single steps to mass migration: the problem of scale in the movement ecology of the serengeti wildebeest. Philosop Trans R Soc B Biol Sci 373(1746):20170,012","journal-title":"Philosop Trans R Soc B Biol Sci"},{"issue":"2","key":"1785_CR5","doi-asserted-by":"publisher","first-page":"e1601,469","DOI":"10.1126\/sciadv.1601469","volume":"3","author":"A Kaiser","year":"2017","unstructured":"Kaiser A, Snezhko A, Aranson IS (2017) Flocking ferromagnetic colloids. Sci Adv 3 (2):e1601,469","journal-title":"Sci Adv"},{"key":"1785_CR6","doi-asserted-by":"publisher","unstructured":"Hu J, Bhowmick P, Jang I, Arvin F, Lanzon A (2021) A decentralized cluster formation containment framework for multirobot systems. IEEE Trans Robot. https:\/\/doi.org\/10.1109\/TRO.2021.3071615","DOI":"10.1109\/TRO.2021.3071615"},{"issue":"100","key":"1785_CR7","first-page":"762","volume":"60","author":"M Schranz","year":"2021","unstructured":"Schranz M, Di Caro GA, Schmickl T, Elmenreich W, Arvin F, \u015eekercio\u011flu A, Sende M (2021) Swarm intelligence and cyber-physical systems: concepts, challenges and future trends. Swarm Evolut Comput 60(100):762","journal-title":"Swarm Evolut Comput"},{"issue":"4","key":"1785_CR8","doi-asserted-by":"publisher","first-page":"307","DOI":"10.1007\/s11721-018-0159-8","volume":"12","author":"R Miletitch","year":"2018","unstructured":"Miletitch R, Dorigo M, Trianni V (2018) Balancing exploitation of renewable resources by a robot swarm. Swarm Intell 12(4):307\u2013326","journal-title":"Swarm Intell"},{"key":"1785_CR9","doi-asserted-by":"publisher","unstructured":"Hu J, Turgut AE, Krajn\u00edk T, Lennox B, Arvin F (2020) Occlusion-based coordination protocol design for autonomous robotic shepherding tasks. IEEE Trans Cognitive Develop Syst. https:\/\/doi.org\/10.1109\/TCDS.2020.3018549","DOI":"10.1109\/TCDS.2020.3018549"},{"issue":"6","key":"1785_CR10","doi-asserted-by":"publisher","first-page":"1516","DOI":"10.1109\/TRO.2019.2929015","volume":"35","author":"D Tarapore","year":"2019","unstructured":"Tarapore D, Timmis J, Christensen AL (2019) Fault detection in a swarm of physical robots based on behavioral outlier detection. IEEE Trans Robot 35(6):1516\u20131522","journal-title":"IEEE Trans Robot"},{"issue":"12","key":"1785_CR11","doi-asserted-by":"publisher","first-page":"14,413","DOI":"10.1109\/TVT.2020.3034800","volume":"69","author":"J Hu","year":"2020","unstructured":"Hu J, Niu H, Carrasco J, Lennox B, Arvin F (2020) Voronoi-based multi-robot autonomous exploration in unknown environments via deep reinforcement learning. IEEE Trans Vehic Technol 69 (12):14,413\u201314,423","journal-title":"IEEE Trans Vehic Technol"},{"key":"1785_CR12","unstructured":"Amjadi AS, Raoufi M, Turgut AE, Broughton G, Krajn\u00edk T, Arvin F (2019) Cooperative pollution source localization and cleanup with a bio-inspired swarm robot aggregation. arXiv:1907.09585"},{"issue":"2","key":"1785_CR13","doi-asserted-by":"publisher","first-page":"977","DOI":"10.1109\/LRA.2020.2966412","volume":"5","author":"J Hu","year":"2020","unstructured":"Hu J, Bhowmick P, Arvin F, Lanzon A, Lennox B (2020) Cooperative control of heterogeneous connected vehicle platoons: an adaptive leader-following approach. IEEE Robot Autom Lett 5(2):977\u2013984","journal-title":"IEEE Robot Autom Lett"},{"issue":"6","key":"1785_CR14","doi-asserted-by":"publisher","first-page":"061,103","DOI":"10.1063\/1.5036663","volume":"28","author":"P Grover","year":"2018","unstructured":"Grover P, Bakshi K, Theodorou EA (2018) A mean-field game model for homogeneous flocking. Chaos An Interdiscipli J Nonlinear Sci 28(6):061,103","journal-title":"Chaos An Interdiscipli J Nonlinear Sci"},{"key":"1785_CR15","doi-asserted-by":"crossref","unstructured":"Wong WK, Ye S, Liu H, Wang Y (2020) Effective mobile target searching using robots. Mob Netw Appl 1\u201317","DOI":"10.1007\/s11036-020-01628-x"},{"key":"1785_CR16","doi-asserted-by":"crossref","unstructured":"Liu Z, West C, Lennox B, Arvin F (2020) Local bearing estimation for a swarm of low-cost miniature robots. Sensors 20(11)","DOI":"10.3390\/s20113308"},{"key":"1785_CR17","doi-asserted-by":"publisher","unstructured":"Hu J, Turgut AE, Lennox B, Arvin F (2021) Robust formation coordination of robot swarms with nonlinear dynamics and unknown disturbances: Design and experiments. IEEE Transactions on Circuits and Systems II, Express Briefs. https:\/\/doi.org\/10.1109\/TCSII.2021.3074705","DOI":"10.1109\/TCSII.2021.3074705"},{"issue":"2","key":"1785_CR18","doi-asserted-by":"publisher","first-page":"e0192,987","DOI":"10.1371\/journal.pone.0192987","volume":"13","author":"C He","year":"2018","unstructured":"He C, Feng Z, Ren Z (2018) A flocking algorithm for multi-agent systems with connectivity preservation under hybrid metric-topological interactions. PloS one 13(2):e0192,987","journal-title":"PloS one"},{"key":"1785_CR19","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-658-20540-9","volume-title":"Projection-based clustering through self-organization and swarm intelligence: combining cluster analysis with the visualization of high-dimensional data","author":"MC Thrun","year":"2018","unstructured":"Thrun MC (2018) Projection-based clustering through self-organization and swarm intelligence: combining cluster analysis with the visualization of high-dimensional data. Springer, Berlin"},{"key":"1785_CR20","doi-asserted-by":"crossref","unstructured":"Dorigo M, Theraulaz G, Trianni V (2020) Reflections on the future of swarm robotics. Sci Robot 5(49)","DOI":"10.1126\/scirobotics.abe4385"},{"key":"1785_CR21","doi-asserted-by":"crossref","unstructured":"Wu K, Hu J, Lennox B, Arvin F (2021) SDP-based robust formation-containment coordination of swarm robotic systems with input saturation. J Intell Robot Syst 102(12)","DOI":"10.1007\/s10846-021-01368-4"},{"key":"1785_CR22","doi-asserted-by":"crossref","unstructured":"Reynolds CW (1987) Flocks, herds and schools: a distributed behavioral model. In: Proceedings of the 14th annual conference on Computer graphics and interactive techniques, pp 25\u201334","DOI":"10.1145\/37402.37406"},{"key":"1785_CR23","doi-asserted-by":"crossref","unstructured":"Hayes AT, Dormiani-Tabatabaei P (2002) Self-organized flocking with agent failure: Off-line optimization and demonstration with real robots. In: IEEE International conference on robotics and automation, vol 4, pp 3900\u20133905","DOI":"10.1109\/ROBOT.2002.1014331"},{"key":"1785_CR24","doi-asserted-by":"crossref","unstructured":"Campo A, Nouyan S, Birattari M, Gro\u00df R, Dorigo M (2006) Negotiation of goal direction for cooperative transport. In: International workshop on ant colony optimization and swarm intelligence. Springer, Berlin, pp 191\u2013202","DOI":"10.1007\/11839088_17"},{"issue":"2-4","key":"1785_CR25","doi-asserted-by":"publisher","first-page":"97","DOI":"10.1007\/s11721-008-0016-2","volume":"2","author":"AE Turgut","year":"2008","unstructured":"Turgut AE, \u00c7elikkanat H, G\u00f6k\u00e7e F, \u015eahin E (2008) Self-organized flocking in mobile robot swarms. Swarm Intell 2(2-4):97\u2013120","journal-title":"Swarm Intell"},{"issue":"2","key":"1785_CR26","doi-asserted-by":"publisher","first-page":"022,609","DOI":"10.1103\/PhysRevE.99.022609","volume":"99","author":"B Li","year":"2019","unstructured":"Li B, Wu ZX, Guan JY (2019) Collective motion patterns of self-propelled agents with both velocity alignment and aggregation interactions. Phys Rev E 99(2):022,609","journal-title":"Phys Rev E"},{"issue":"1","key":"1785_CR27","doi-asserted-by":"publisher","first-page":"012,614","DOI":"10.1103\/PhysRevE.99.012614","volume":"99","author":"T Hiraiwa","year":"2019","unstructured":"Hiraiwa T (2019) Two types of exclusion interactions for self-propelled objects and collective motion induced by their combination. Phys Rev E 99(1):012,614","journal-title":"Phys Rev E"},{"issue":"6","key":"1785_CR28","doi-asserted-by":"publisher","first-page":"460","DOI":"10.1177\/1059712312462248","volume":"20","author":"E Ferrante","year":"2012","unstructured":"Ferrante E, Turgut AE, Huepe C, Stranieri A, Pinciroli C, Dorigo M (2012) Self-organized flocking with a mobile robot swarm: a novel motion control method. Adapt Behav 20(6):460\u2013477","journal-title":"Adapt Behav"},{"key":"1785_CR29","doi-asserted-by":"crossref","unstructured":"Na S, Qiu Y, Turgut AE, Ulrich J, Krajn\u00edk T, Yue S, Lennox B, Arvin F (2020) Bio-inspired artificial pheromone system for swarm robotics applications. Adaptive Behav 1059712320918936","DOI":"10.1162\/isal_a_00228"},{"issue":"9","key":"1785_CR30","doi-asserted-by":"publisher","first-page":"095,011","DOI":"10.1088\/1367-2630\/15\/9\/095011","volume":"15","author":"E Ferrante","year":"2013","unstructured":"Ferrante E, Turgut AE, Dorigo M, Huepe C (2013) Collective motion dynamics of active solids and active crystals. New J Phys 15(9):095,011","journal-title":"New J Phys"},{"issue":"3-4","key":"1785_CR31","doi-asserted-by":"publisher","first-page":"209","DOI":"10.1016\/j.sysconle.2010.01.006","volume":"59","author":"W Ni","year":"2010","unstructured":"Ni W, Cheng D (2010) Leader-following consensus of multi-agent systems under fixed and switching topologies. Syst Control Lett 59(3-4):209\u2013217","journal-title":"Syst Control Lett"},{"issue":"105","key":"1785_CR32","first-page":"575","volume":"116","author":"J Hu","year":"2020","unstructured":"Hu J, Bhowmick P (2020) A consensus-based robust secondary voltage and frequency control scheme for islanded microgrids. Int J Electric Power Energ Syst 116(105):575","journal-title":"Int J Electric Power Energ Syst"},{"issue":"12","key":"1785_CR33","doi-asserted-by":"publisher","first-page":"1994","DOI":"10.1016\/j.automatica.2010.08.003","volume":"46","author":"W Zhu","year":"2010","unstructured":"Zhu W, Cheng D (2010) Leader-following consensus of second-order agents with multiple time-varying delays. Automatica 46(12):1994\u20131999","journal-title":"Automatica"},{"key":"1785_CR34","doi-asserted-by":"publisher","unstructured":"Wu K, Hu J, Lennox B, Arvin F (2021) Finite-time bearing-only formation tracking of heterogeneous mobile robots with collision avoidance. IEEE Transactions on Circuits and Systems II, Express Briefs. https:\/\/doi.org\/10.1109\/TCSII.2021.3066555","DOI":"10.1109\/TCSII.2021.3066555"},{"issue":"16","key":"1785_CR35","doi-asserted-by":"publisher","first-page":"6433","DOI":"10.1002\/rnc.5105","volume":"30","author":"J Hu","year":"2020","unstructured":"Hu J, Bhowmick P, Lanzon A (2020) Two-layer distributed formation-containment control strategy for linear swarm systems: Algorithm and experiments. Int J Robust Nonlinear Control 30(16):6433\u20136453","journal-title":"Int J Robust Nonlinear Control"},{"key":"1785_CR36","doi-asserted-by":"crossref","unstructured":"Bhavana T, Nithya M, Rajesh M (2017) Leader-follower co-ordination of multiple robots with obstacle avoidance. In: 2017 International conference on smart technologies for smart nation (smarttechcon). IEEE, pp 613\u2013617","DOI":"10.1109\/SmartTechCon.2017.8358444"},{"issue":"1","key":"1785_CR37","doi-asserted-by":"publisher","first-page":"127","DOI":"10.1007\/s11370-017-0240-y","volume":"11","author":"G Lee","year":"2018","unstructured":"Lee G, Chwa D (2018) Decentralized behavior-based formation control of multiple robots considering obstacle avoidance. Intel Serv Robot 11(1):127\u2013138","journal-title":"Intel Serv Robot"},{"key":"1785_CR38","doi-asserted-by":"publisher","first-page":"14,791","DOI":"10.1109\/ACCESS.2018.2889504","volume":"7","author":"X Wu","year":"2018","unstructured":"Wu X, Wang S, Xing M (2018) Observer-based leader-following formation control for multi-robot with obstacle avoidance. IEEE Access 7:14,791\u201314,798","journal-title":"IEEE Access"},{"issue":"10-11","key":"1785_CR39","doi-asserted-by":"publisher","first-page":"1002","DOI":"10.1002\/rnc.1147","volume":"17","author":"W Ren","year":"2007","unstructured":"Ren W, Atkins E (2007) Distributed multi-vehicle coordinated control via local information exchange. Int J Robust Nonlinear Control 17(10-11):1002\u20131033","journal-title":"Int J Robust Nonlinear Control"},{"issue":"1","key":"1785_CR40","doi-asserted-by":"publisher","first-page":"140","DOI":"10.1109\/TCNS.2019.2913619","volume":"7","author":"J Hu","year":"2020","unstructured":"Hu J, Bhowmick P, Lanzon A (2020) Distributed adaptive time-varying group formation tracking for multi-agent systems with multiple leaders on directed graphs. IEEE Trans Control Netw Syst 7 (1):140\u2013150","journal-title":"IEEE Trans Control Netw Syst"},{"issue":"3","key":"1785_CR41","doi-asserted-by":"publisher","first-page":"1218","DOI":"10.1109\/TAC.2019.2923082","volume":"65","author":"J Jiao","year":"2019","unstructured":"Jiao J, Trentelman HL, Camlibel MK (2019) A suboptimality approach to distributed linear quadratic optimal control. IEEE Trans Autom Control 65(3):1218\u20131225","journal-title":"IEEE Trans Autom Control"},{"key":"1785_CR42","volume-title":"Control theory for linear systems","author":"HL Trentelman","year":"2012","unstructured":"Trentelman HL, Stoorvogel AA, Hautus M (2012) Control theory for linear systems. Springer Science & Business Media, Berlin"},{"issue":"1","key":"1785_CR43","doi-asserted-by":"publisher","first-page":"5","DOI":"10.5772\/5618","volume":"1","author":"O Michel","year":"2004","unstructured":"Michel O (2004) Cyberbotics ltd. webots\u2122: professional mobile robot simulation. Int J Adv Robot Syst 1(1):5","journal-title":"Int J Adv Robot Syst"},{"key":"1785_CR44","unstructured":"Garage W (2011) Turtlebot. Website: http:\/\/turtlebot.com\/last visited 11\u201325"},{"key":"1785_CR45","doi-asserted-by":"crossref","unstructured":"Gallardo N, Pai K, Erol BA, Benavidez P, Jamshidi M (2016) Formation control implementation using kobuki turtlebots and parrot bebop drone. In: 2016 World automation congress (WAC). IEEE, pp 1\u20136","DOI":"10.1109\/WAC.2016.7582996"},{"key":"1785_CR46","doi-asserted-by":"crossref","unstructured":"Horton M, Chen L, Samanta B (2017) Enhancing the security of iot enabled robotics: Protecting turtlebot file system and communication. In: 2017 International conference on computing, networking and communications (ICNC). IEEE, pp 662\u2013666","DOI":"10.1109\/ICCNC.2017.7876208"},{"issue":"6","key":"1785_CR47","doi-asserted-by":"publisher","first-page":"1226","DOI":"10.1103\/PhysRevLett.75.1226","volume":"75","author":"T Vicsek","year":"1995","unstructured":"Vicsek T, Czir\u00f3k A., Ben-Jacob E, Cohen I, Shochet O (1995) Novel type of phase transition in a system of self-driven particles. Phys Rev Lett 75(6):1226","journal-title":"Phys Rev Lett"},{"key":"1785_CR48","doi-asserted-by":"crossref","unstructured":"Na S, Raoufi M, Turgut AE, Krajn\u00edk T, Arvin F (2019) Extended artificial pheromone system for swarm robotic applications. In: Artificial life conference proceedings. MIT Press, pp 608\u2013615","DOI":"10.1162\/isal_a_00228"},{"issue":"5","key":"1785_CR49","doi-asserted-by":"publisher","first-page":"4532","DOI":"10.1109\/JIOT.2019.2956827","volume":"7","author":"H Gao","year":"2019","unstructured":"Gao H, Xu Y, Yin Y, Zhang W, Li R, Wang X (2019) Context-aware qos prediction with neural collaborative filtering for internet-of-things services. IEEE Int Things J 7(5):4532\u2013 4542","journal-title":"IEEE Int Things J"},{"key":"1785_CR50","doi-asserted-by":"crossref","unstructured":"Ban Z, West C, Lennox B, Arvin F (2020) Self-organised flocking with simulated homogeneous robotic swarm. In: EAI International conference on collaborative computing","DOI":"10.1007\/978-3-030-67540-0_1"},{"key":"1785_CR51","doi-asserted-by":"crossref","unstructured":"S\u0307ahin E. (2004) Swarm robotics: From sources of inspiration to domains of application. In: International workshop on swarm robotics. Springer, pp 10\u201320","DOI":"10.1007\/978-3-540-30552-1_2"},{"issue":"2","key":"1785_CR52","doi-asserted-by":"publisher","first-page":"102","DOI":"10.1177\/1059712316632851","volume":"24","author":"F Arvin","year":"2016","unstructured":"Arvin F, Turgut AE, Krajn\u00edk T, Yue S (2016) Investigation of cue-based aggregation in static and dynamic environments with a mobile robot swarm. Adapt Behav 24(2):102\u2013118","journal-title":"Adapt Behav"},{"key":"1785_CR53","doi-asserted-by":"crossref","unstructured":"Arvin F, Turgut AE, Krajn\u00edk T, Rahimi S, Okay IE, Yue S, Watson S, Lennox B (2018) \u03a6clust: Pheromone-based Aggregation for Robotic Swarms. In: 2018 IEEE\/RSJ International conference on intelligent robots and systems (IROS). IEEE, pp 4288\u20134294","DOI":"10.1109\/IROS.2018.8593961"},{"issue":"9","key":"1785_CR54","doi-asserted-by":"publisher","first-page":"093,048","DOI":"10.1088\/1367-2630\/ab428e","volume":"21","author":"Y Jia","year":"2019","unstructured":"Jia Y, Vicsek T (2019) Modelling hierarchical flocking. New J Phys 21(9):093,048","journal-title":"New J Phys"},{"key":"1785_CR55","doi-asserted-by":"publisher","first-page":"200","DOI":"10.1016\/j.knosys.2017.10.018","volume":"139","author":"G Sun","year":"2018","unstructured":"Sun G, Ma P, Ren J, Zhang A, Jia X (2018) A stability constrained adaptive alpha for gravitational search algorithm. Knowl-Based Syst 139:200\u2013213","journal-title":"Knowl-Based Syst"},{"issue":"1","key":"1785_CR56","doi-asserted-by":"publisher","first-page":"436","DOI":"10.1109\/TCYB.2016.2641986","volume":"48","author":"A Zhang","year":"2016","unstructured":"Zhang A, Sun G, Ren J, Li X, Wang Z, Jia X (2016) A dynamic neighborhood learning-based gravitational search algorithm. IEEE Trans Cybern 48(1):436\u2013447","journal-title":"IEEE Trans Cybern"}],"container-title":["Mobile Networks and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11036-021-01785-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11036-021-01785-7\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11036-021-01785-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,2,14]],"date-time":"2022-02-14T08:25:12Z","timestamp":1644827112000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11036-021-01785-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,7,15]]},"references-count":56,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2021,12]]}},"alternative-id":["1785"],"URL":"https:\/\/doi.org\/10.1007\/s11036-021-01785-7","relation":{},"ISSN":["1383-469X","1572-8153"],"issn-type":[{"value":"1383-469X","type":"print"},{"value":"1572-8153","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,7,15]]},"assertion":[{"value":"10 May 2021","order":1,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"15 July 2021","order":2,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}