{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,4,10]],"date-time":"2025-04-10T05:12:32Z","timestamp":1744261952128,"version":"3.37.3"},"reference-count":55,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2018,8,6]],"date-time":"2018-08-06T00:00:00Z","timestamp":1533513600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"name":"Joint Research Fund between the National Natural Science Foundation of China (NSFC) and Shen Zhen","award":["U1713201"],"award-info":[{"award-number":["U1713201"]}]},{"DOI":"10.13039\/501100011259","name":"State Key Laboratory of Robotics","doi-asserted-by":"crossref","award":["2018-O10"],"award-info":[{"award-number":["2018-O10"]}],"id":[{"id":"10.13039\/501100011259","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Nat Comput"],"published-print":{"date-parts":[[2019,9]]},"DOI":"10.1007\/s11047-018-9702-1","type":"journal-article","created":{"date-parts":[[2018,8,6]],"date-time":"2018-08-06T07:19:12Z","timestamp":1533539952000},"page":"635-646","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["A membrane computing framework for self-reconfigurable robots"],"prefix":"10.1007","volume":"18","author":[{"given":"Dongyang","family":"Bie","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Miguel A.","family":"Guti\u00e9rrez-Naranjo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jie","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6740-091X","authenticated-orcid":false,"given":"Yanhe","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2018,8,6]]},"reference":[{"key":"9702_CR1","doi-asserted-by":"crossref","DOI":"10.7551\/mitpress\/6933.001.0001","volume-title":"Turtle geometry: the computer as a medium for exploring mathematics. The MIT Press series in artificial intelligence","author":"H Abelson","year":"1981","unstructured":"Abelson H, DiSessa AA (1981) Turtle geometry: the computer as a medium for exploring mathematics. The MIT Press series in artificial intelligence. MIT Press, Cambridge (edition broche 1986)"},{"key":"9702_CR2","doi-asserted-by":"publisher","first-page":"284","DOI":"10.1016\/j.robot.2017.01.012","volume":"91","author":"J Baca","year":"2017","unstructured":"Baca J, Woosley B, Dasgupta P, Nelson CA (2017) Configuration discovery of modular self-reconfigurable robots: real-time, distributed, IR+XBee communication method. Robot Auton Syst 91:284\u2013298","journal-title":"Robot Auton Syst"},{"key":"9702_CR4","doi-asserted-by":"publisher","unstructured":"Bojinov H, Casal A, Hogg T (2000) Emergent structures in modular self-reconfigurable robots. In: Proceedings of the 2000 IEEE international conference on robotics and automation, ICRA 2000, April 24\u201328, 2000, San Francisco, CA, USA. IEEE, pp 1734\u20131741. https:\/\/doi.org\/10.1109\/ROBOT.2000.844846","DOI":"10.1109\/ROBOT.2000.844846"},{"issue":"2","key":"9702_CR3","doi-asserted-by":"publisher","first-page":"99","DOI":"10.1016\/S0004-3702(02)00272-2","volume":"142","author":"H Bojinov","year":"2002","unstructured":"Bojinov H, Casal A, Hogg T (2002) Multiagent control of self-reconfigurable robots. Artif Intell 142(2):99\u2013120. https:\/\/doi.org\/10.1016\/S0004-3702(02)00272-2","journal-title":"Artif Intell"},{"key":"9702_CR7","doi-asserted-by":"publisher","unstructured":"Butler ZJ, Rus D (2003) Distributed locomotion algorithms for self-reconfigurable robots operating on rough terrain. In: Proceedings of the IEEE international symposium on computational intelligence in robotics and automation: computational intelligence in robotics and automation for the New Millennium, CIRA 2003, Kobe, Japan, July 16\u201320, 2003. IEEE, pp 880\u2013885. https:\/\/doi.org\/10.1109\/CIRA.2003.1222296","DOI":"10.1109\/CIRA.2003.1222296"},{"key":"9702_CR6","unstructured":"Butler Z, Kotay K, Rus D, Tomita K (2001a) Cellular automata for decentralized control of self-reconfigurable robots. In: Proceedings of the IEEE ICRA workshop on modular robots, pp 21\u201326"},{"key":"9702_CR9","unstructured":"Butler Z, Kotay K, Rus D, Tomita K (2001b) Cellular automata for decentralized control of self-reconfigurable robots. In: Proceedings of the IEEE ICRA workshop on modular robots, pp 21\u201326"},{"key":"9702_CR8","doi-asserted-by":"publisher","unstructured":"Butler Z, Kotay K, Rus D, Tomita K (2002) Generic decentralized control for a class of self-reconfigurable robots. In: IEEE international conference on robotics and automation, 2002. Proceedings. ICRA \u201902, vol\u00a01, pp 809\u2013816. https:\/\/doi.org\/10.1109\/ROBOT.2002.1013457","DOI":"10.1109\/ROBOT.2002.1013457"},{"issue":"9","key":"9702_CR5","doi-asserted-by":"publisher","first-page":"919","DOI":"10.1177\/0278364904044409","volume":"23","author":"ZJ Butler","year":"2004","unstructured":"Butler ZJ, Kotay K, Rus D, Tomita K (2004) Generic decentralized control for lattice-based self-reconfigurable robots. Int J Robot Res 23(9):919\u2013937. https:\/\/doi.org\/10.1177\/0278364904044409","journal-title":"Int J Robot Res"},{"key":"9702_CR10","doi-asserted-by":"publisher","unstructured":"Christensen DJ (2006) Evolution of shape-changing and self-repairing control for the ATRON self-reconfigurable robot. In: Proceedings of the 2006 IEEE international conference on robotics and automation, ICRA 2006, May 15\u201319, 2006, Orlando, Florida, USA. IEEE, pp 2539\u20132545. https:\/\/doi.org\/10.1109\/ROBOT.2006.1642084","DOI":"10.1109\/ROBOT.2006.1642084"},{"key":"9702_CR13","doi-asserted-by":"publisher","unstructured":"Fitch R, Butler ZJ (2007) Scalable locomotion for large self-reconfiguring robots. In: 2007 IEEE international conference on robotics and automation, ICRA 2007, 10\u201314 April 2007, Roma, Italy. IEEE, pp 2248\u20132253. https:\/\/doi.org\/10.1109\/ROBOT.2007.363654","DOI":"10.1109\/ROBOT.2007.363654"},{"key":"9702_CR12","doi-asserted-by":"publisher","unstructured":"Fitch R, McAllister R (2010) Hierarchical planning for self-reconfiguring robots using module kinematics. In: Martinoli A, Mondada F, Correll N, Mermoud G, Egerstedt M, Hsieh MA, Parker LE, St\u00f8y K (eds) Distributed autonomous robotic systems\u2014the 10th international symposium, DARS 2010, Lausanne, Switzerland, November 1\u20133, 2010, vol\u00a083 of Springer Tracts in Advanced Robotics. Springer, Berlin, pp 477\u2013490. https:\/\/doi.org\/10.1007\/978-3-642-32723-0_34","DOI":"10.1007\/978-3-642-32723-0_34"},{"key":"9702_CR14","doi-asserted-by":"publisher","unstructured":"Fitch R, Butler Z, Rus D (2003) Reconfiguration planning for heterogeneous self-reconfiguring robots. In: International conference on intelligent robots and systems, 2003. (IROS 2003). Proceedings. 2003 IEEE\/RSJ, vol\u00a03, IEEE. pp 2460\u20132467. https:\/\/doi.org\/10.1109\/IROS.2003.1249239","DOI":"10.1109\/IROS.2003.1249239"},{"key":"9702_CR11","doi-asserted-by":"publisher","unstructured":"Fitch R, Butler ZJ, Rus D (2005) Reconfiguration planning among obstacles for heterogeneous self-reconfiguring robots. In: Proceedings of the 2005 IEEE international conference on robotics and automation, ICRA 2005, April 18\u201322, 2005, Barcelona, Spain. IEEE, pp 117\u2013124. https:\/\/doi.org\/10.1109\/ROBOT.2005.1570106","DOI":"10.1109\/ROBOT.2005.1570106"},{"issue":"1","key":"9702_CR15","doi-asserted-by":"publisher","first-page":"55","DOI":"10.1007\/BF00437320","volume":"1","author":"T Fukuda","year":"1988","unstructured":"Fukuda T, Nakagawa S (1988) Approach to the dynamically reconfigurable robotic system. J Intell Robot Syst 1(1):55\u201372. https:\/\/doi.org\/10.1007\/BF00437320","journal-title":"J Intell Robot Syst"},{"issue":"8","key":"9702_CR16","doi-asserted-by":"publisher","first-page":"946","DOI":"10.1177\/0278364909339077","volume":"28","author":"S Funiak","year":"2009","unstructured":"Funiak S, Pillai P, Ashley-Rollman MP, Campbell J, Goldstein SC (2009) Distributed localization of modular robot ensembles. Int J Robot Res 28(8):946\u2013961. https:\/\/doi.org\/10.1177\/0278364909339077","journal-title":"Int J Robot Res"},{"key":"9702_CR17","doi-asserted-by":"publisher","unstructured":"Georgiou A, Gheorghe M, Bernardini F (2006) Membrane-based devices used in computer graphics. In: Ciobanu G, P\u0103un G, P\u00e9rez-Jim\u00e9nez MJ (eds) Applications of membrane computing, Natural Computing Series, Springer, Berlin, pp 253\u2013281. https:\/\/doi.org\/10.1007\/3-540-29937-8_9","DOI":"10.1007\/3-540-29937-8_9"},{"key":"9702_CR18","volume-title":"Robotics: science and systems VIII","author":"K Gilpin","year":"2012","unstructured":"Gilpin K, Rus D (2012) What\u2019s in the bag: a distributed approach to 3D shape duplication with modular robots. In: Roy N (ed) Robotics: science and systems VIII. University of Sydney, Sydney"},{"issue":"6","key":"9702_CR19","doi-asserted-by":"publisher","first-page":"99","DOI":"10.1109\/MC.2005.198","volume":"38","author":"SC Goldstein","year":"2005","unstructured":"Goldstein SC, Campbell J, Mowry TC (2005) Programmable matter. IEEE Comput 38(6):99\u2013101. https:\/\/doi.org\/10.1109\/MC.2005.198","journal-title":"IEEE Comput"},{"issue":"7","key":"9702_CR20","doi-asserted-by":"publisher","first-page":"1047","DOI":"10.1016\/j.robot.2013.06.014","volume":"62","author":"F Hou","year":"2014","unstructured":"Hou F, Shen W (2014) Graph-based optimal reconfiguration planning for self-reconfigurable robots. Robot Autonom Syst 62(7):1047\u20131059. https:\/\/doi.org\/10.1016\/j.robot.2013.06.014","journal-title":"Robot Autonom Syst"},{"key":"9702_CR21","doi-asserted-by":"publisher","unstructured":"Jones CV, Mataric MJ (2003) From local to global behavior in intelligent self-assembly from. In: Proceedings of the 2003 IEEE international conference on robotics and automation, ICRA 2003, September 14\u201319, 2003, Taipei, Taiwan. IEEE, pp 721\u2013726. https:\/\/doi.org\/10.1109\/ROBOT.2003.1241679","DOI":"10.1109\/ROBOT.2003.1241679"},{"issue":"1\u20133","key":"9702_CR22","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1016\/j.tcs.2004.11.021","volume":"334","author":"J Kari","year":"2005","unstructured":"Kari J (2005) Theory of cellular automata: a survey. Theor Comput Sci 334(1\u20133):3\u201333. https:\/\/doi.org\/10.1016\/j.tcs.2004.11.021","journal-title":"Theor Comput Sci"},{"key":"9702_CR23","doi-asserted-by":"publisher","first-page":"123","DOI":"10.1016\/j.jnca.2017.12.018","volume":"105","author":"A Naz","year":"2018","unstructured":"Naz A, Piranda B, Bourgeois J, Goldstein SC (2018) A time synchronization protocol for large-scale distributed embedded systems with low-precision clocks and neighbor-to-neighbor communications. J Netw Comput Appl 105:123\u2013142","journal-title":"J Netw Comput Appl"},{"key":"9702_CR24","unstructured":"Ostergaard E, Lund HH (2004) Controlling self-reconfiguration using cellular automata and gradients. In: Proceedings of the 8th international conference on intelligent autonomous systems (IAS-8), pp 291\u2013298"},{"key":"9702_CR25","doi-asserted-by":"publisher","unstructured":"Pillai P, Campbell J, Kedia G, Moudgal S, Sheth K (2006) A 3D fax machine based on claytronics. In: 2006 IEEE\/RSJ international conference on intelligent robots and systems, IROS 2006, October 9\u201315, 2006, Beijing, China. IEEE, pp 4728\u20134735. https:\/\/doi.org\/10.1109\/IROS.2006.282264","DOI":"10.1109\/IROS.2006.282264"},{"issue":"7","key":"9702_CR26","doi-asserted-by":"publisher","first-page":"906","DOI":"10.1016\/j.mechatronics.2013.08.009","volume":"23","author":"B Piranda","year":"2013","unstructured":"Piranda B, Laurent GJ, Bourgeois J, Clvy C, Mbes S, Fort-Piat NL (2013) A new concept of planar self-reconfigurable modular robot for conveying microparts. Mechatronics 23(7):906\u2013915. https:\/\/doi.org\/10.1016\/j.mechatronics.2013.08.009 (1.Fractional Order Modeling and Control in Mechatronics 2. Design,control, and software implementation for distributed {MEMS} (dMEMS))","journal-title":"Mechatronics"},{"key":"9702_CR28","unstructured":"Prusinkiewicz P (1986) Graphical applications of L-systems. In: Proceedings on graphics interface \u201986\/vision interface \u201986. Canadian Information Processing Society, Toronto, pp 247\u2013253"},{"key":"9702_CR27","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4613-8476-2","volume-title":"The algorithmic beauty of plants, Virtual Laboratory","author":"P Prusinkiewicz","year":"1990","unstructured":"Prusinkiewicz P, Lindenmayer A (1990) The algorithmic beauty of plants, Virtual Laboratory. Springer, Berlin"},{"key":"9702_CR32","unstructured":"P\u0103un G (1998) Computing with membranes, Technical Report 208. Turku Centre for Computer Science, Turku"},{"issue":"1","key":"9702_CR31","doi-asserted-by":"publisher","first-page":"108","DOI":"10.1006\/jcss.1999.1693","volume":"61","author":"G P\u0103un","year":"2000","unstructured":"P\u0103un G (2000) Computing with membranes. J Comput Syst Sci 61(1):108\u2013143. https:\/\/doi.org\/10.1006\/jcss.1999.1693","journal-title":"J Comput Syst Sci"},{"key":"9702_CR29","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-56196-2","volume-title":"Membrane computing. An introduction","author":"G P\u0103un","year":"2002","unstructured":"P\u0103un G (2002) Membrane computing. An introduction. Springer, Berlin"},{"volume-title":"The Oxford handbook of membrane computing","year":"2010","key":"9702_CR30","unstructured":"P\u0103un G, Rozenberg G, Salomaa A (eds) (2010) The Oxford handbook of membrane computing. Oxford University Press, Oxford"},{"issue":"2","key":"9702_CR33","doi-asserted-by":"publisher","first-page":"879","DOI":"10.1007\/s11047-010-9198-9","volume":"10","author":"E Rivero-Gil","year":"2011","unstructured":"Rivero-Gil E, Guti\u00e9rrez-Naranjo MA, Romero Jim\u00e9nez \u00c1, Riscos-N\u00fa\u00f1ez A (2011) A software tool for generating graphics by means of P systems. Nat Comput 10(2):879\u2013890. https:\/\/doi.org\/10.1007\/s11047-010-9198-9","journal-title":"Nat Comput"},{"key":"9702_CR34","doi-asserted-by":"publisher","unstructured":"Romanishin J, Gilpin K, Rus D (2013) M-blocks: momentum-driven, magnetic modular robots. In: 2013 IEEE\/RSJ international conference on intelligent robots and systems, Tokyo, Japan, November 3\u20137, 2013. IEEE, pp 4288\u20134295. https:\/\/doi.org\/10.1109\/IROS.2013.6696971","DOI":"10.1109\/IROS.2013.6696971"},{"key":"9702_CR35","doi-asserted-by":"crossref","unstructured":"Romero-Jim\u00e9nez \u00c1, Guti\u00e9rrez-Naranjo MA, P\u00e9rez-Jim\u00e9nez MJ (2006) Graphical modeling of higher plants using P systems. In: Hoogeboom HJ, P\u0103un G, Rozenberg G, Salomaa A (eds) Workshop on membrane computing, vol 4361 of lecture notes in computer science. Springer, Berlin, pp 496\u2013506","DOI":"10.1007\/11963516_31"},{"key":"9702_CR36","doi-asserted-by":"publisher","unstructured":"Rubenstein M, Shen W (2010) Automatic scalable size selection for the shape of a distributed robotic collective, In: 2010 IEEE\/RSJ international conference on intelligent robots and systems, October 18\u201322, 2010, Taipei, Taiwan. IEEE, pp 508\u2013513. https:\/\/doi.org\/10.1109\/IROS.2010.5650906","DOI":"10.1109\/IROS.2010.5650906"},{"key":"9702_CR40","unstructured":"Stoy K (2004) Controlling self-reconfiguration using cellular automata and gradients. In: Proceedings of the 8th international conference on intelligent autonomous systems (IAS-8), pp 693\u2013702"},{"issue":"2","key":"9702_CR37","doi-asserted-by":"publisher","first-page":"135","DOI":"10.1016\/j.robot.2005.09.017","volume":"54","author":"K Stoy","year":"2006","unstructured":"Stoy K (2006) Using cellular automata and gradients to control self-reconfiguration. Robot Autonom Syst 54(2):135\u2013141. https:\/\/doi.org\/10.1016\/j.robot.2005.09.017 (intelligent Autonomous Systems 8th Conference on IntelligentAutonomous Systems (IAS-8))","journal-title":"Robot Autonom Syst"},{"key":"9702_CR42","doi-asserted-by":"publisher","first-page":"33","DOI":"10.1007\/978-3-319-10924-4_2","volume-title":"Robots and lattice automata, vol 13. emergence, complexity and computation","author":"K Stoy","year":"2015","unstructured":"Stoy K (2015a) Lattice automata for control of self-reconfigurable robots. In: Sirakoulis GC, Adamatzky A (eds), Robots and lattice automata, vol 13 of emergence, complexity and computation. Springer, Berlin, pp 33\u201345. https:\/\/doi.org\/10.1007\/978-3-319-10924-4_2"},{"key":"9702_CR39","doi-asserted-by":"publisher","first-page":"33","DOI":"10.1007\/978-3-319-10924-4_2","volume-title":"Robots and lattice automata","author":"K Stoy","year":"2015","unstructured":"Stoy K (2015b) Lattice automata for control of self-reconfigurable robots. In: Sirakoulis GC, Adamatzky A (eds) Robots and lattice automata. Springer, Cham, pp 33\u201345. https:\/\/doi.org\/10.1007\/978-3-319-10924-4_2"},{"key":"9702_CR38","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1007\/978-4-431-35873-2_1","volume-title":"Distributed autonomous robotic systems","author":"K Stoy","year":"2007","unstructured":"Stoy K, Nagpal R (2007) Self-reconfiguration using directed growth. In: Alami R, Chatila R, Asama H (eds) Distributed autonomous robotic systems, vol 6. Springer, Tokyo, pp 3\u201312. https:\/\/doi.org\/10.1007\/978-4-431-35873-2_1"},{"key":"9702_CR41","unstructured":"Stoy K, Brandt D, Christensen DJ (2010) Self-reconfigurable robots: an introduction. In: Intelligent robotics and autonomous agents. MIT Press, Cambridge"},{"issue":"3\u20134","key":"9702_CR43","doi-asserted-by":"publisher","first-page":"505","DOI":"10.1177\/0278364907084983","volume":"27","author":"P Varshavskaya","year":"2008","unstructured":"Varshavskaya P, Kaelbling LP, Rus D (2008) Automated design of adaptive controllers for modular robots using reinforcement learning. Int J Robot Res 27(3\u20134):505\u2013526. https:\/\/doi.org\/10.1177\/0278364907084983","journal-title":"Int J Robot Res"},{"issue":"4","key":"9702_CR44","doi-asserted-by":"publisher","first-page":"621","DOI":"10.1109\/TRO.2004.842325","volume":"21","author":"JE Walter","year":"2005","unstructured":"Walter JE, Tsai EM, Amato NM (2005) Algorithms for fast concurrent reconfiguration of hexagonal metamorphic robots. IEEE Trans Robot 21(4):621\u2013631. https:\/\/doi.org\/10.1109\/TRO.2004.842325","journal-title":"IEEE Trans Robot"},{"key":"9702_CR45","unstructured":"Web page http:\/\/www.cs.us.es\/~naranjo\/MC_SRR\/"},{"key":"9702_CR46","unstructured":"Web page https:\/\/sites.google.com\/site\/modularrobots\/"},{"key":"9702_CR47","unstructured":"Wolfram S (1994) Cellular automata and complexity: collected papers. Perseus Books Group, Addison-Wesley Pub. Co., c1994"},{"key":"9702_CR48","doi-asserted-by":"publisher","unstructured":"Wu Q, Wang Y, Cao G, Fei Y (2005) Locomotion control of distributed self-reconfigurable robot based on cellular automata. In: Huang D-S, Zhang X-P, Huang G-B (eds), Advances in intelligent computing, vol 3645 of lecture notes in computer science. Springer, Berlin, pp 179\u2013188. https:\/\/doi.org\/10.1007\/11538356_19","DOI":"10.1007\/11538356_19"},{"issue":"1","key":"9702_CR49","doi-asserted-by":"publisher","first-page":"43","DOI":"10.1109\/MRA.2007.339623","volume":"14","author":"M Yim","year":"2007","unstructured":"Yim M, Shen W-M, Salemi B, Rus D, Moll M, Lipson H, Klavins E, Chirikjian GS (2007) Modular self-reconfigurable robot systems [grand challenges of robotics]. IEEE Robot Autom Mag 14(1):43\u201352. https:\/\/doi.org\/10.1109\/mra.2007.339623","journal-title":"IEEE Robot Autom Mag"},{"key":"9702_CR50","doi-asserted-by":"publisher","unstructured":"Yoshida E, Murata S, Kurokawa H, Tomita K, Kokaji S (1998) A distributed reconfiguration method for 3D homogeneous structure. In: Proceedings 1998 IEEE\/RSJ international conference on intelligent robots and systems. Innovations in theory, practice and applications, October 13\u201317, 1998, Victoria, BC, Canada. IEEE, pp 852\u2013859. https:\/\/doi.org\/10.1109\/IROS.1998.727306","DOI":"10.1109\/IROS.1998.727306"},{"issue":"1","key":"9702_CR51","doi-asserted-by":"publisher","first-page":"232","DOI":"10.1109\/TRO.2007.913992","volume":"24","author":"MM Zavlanos","year":"2008","unstructured":"Zavlanos MM, Pappas GJ (2008) Dynamic assignment in distributed motion planning with local coordination. IEEE Trans Robot 24(1):232\u2013242. https:\/\/doi.org\/10.1109\/TRO.2007.913992","journal-title":"IEEE Trans Robot"},{"key":"9702_CR52","doi-asserted-by":"publisher","first-page":"32","DOI":"10.5772\/60078","volume":"12","author":"J Zhao","year":"2015","unstructured":"Zhao J, Wang X, Jin H, Bie D, Zhu Y (2015) Automatic locomotion generation for a ubot modular robot-towards both high-speed and multiple patterns. Int J Adv Robot Syst 12:32","journal-title":"Int J Adv Robot Syst"},{"issue":"1","key":"9702_CR53","doi-asserted-by":"publisher","first-page":"37","DOI":"10.1007\/s10846-014-0084-z","volume":"79","author":"Y Zhu","year":"2015","unstructured":"Zhu Y, Bie D, Iqbal S, Wang X, Gao Y, Zhao J (2015) A simplified approach to realize cellular automata for ubot modular self-reconfigurable robots. J Intell Robot Syst 79(1):37\u201354. https:\/\/doi.org\/10.1007\/s10846-014-0084-z","journal-title":"J Intell Robot Syst"},{"key":"9702_CR54","doi-asserted-by":"publisher","first-page":"80","DOI":"10.1016\/j.jpdc.2016.11.016","volume":"102","author":"Y Zhu","year":"2017","unstructured":"Zhu Y, Bie D, Wang X, Zhang Y, Jin H, Zhao J (2017) A distributed and parallel control mechanism for self-reconfiguration of modular robots using L-systems and cellular automata. J Parallel Distrib Comput 102:80\u201390","journal-title":"J Parallel Distrib Comput"},{"key":"9702_CR55","doi-asserted-by":"publisher","DOI":"10.1108\/ir.2011.04938daa.015","author":"M Zoppi","year":"2011","unstructured":"Zoppi M (2011) Self-reconfigurable robots: an introduction. Ind Robot Int J. https:\/\/doi.org\/10.1108\/ir.2011.04938daa.015","journal-title":"Ind Robot Int J"}],"container-title":["Natural Computing"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11047-018-9702-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11047-018-9702-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11047-018-9702-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,9,4]],"date-time":"2023-09-04T05:12:58Z","timestamp":1693804378000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11047-018-9702-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,8,6]]},"references-count":55,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2019,9]]}},"alternative-id":["9702"],"URL":"https:\/\/doi.org\/10.1007\/s11047-018-9702-1","relation":{},"ISSN":["1567-7818","1572-9796"],"issn-type":[{"type":"print","value":"1567-7818"},{"type":"electronic","value":"1572-9796"}],"subject":[],"published":{"date-parts":[[2018,8,6]]},"assertion":[{"value":"6 August 2018","order":1,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}