{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,25]],"date-time":"2026-04-25T07:41:47Z","timestamp":1777102907402,"version":"3.51.4"},"reference-count":31,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2017,8,17]],"date-time":"2017-08-17T00:00:00Z","timestamp":1502928000000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001711","name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","doi-asserted-by":"publisher","award":["200021 137838\/1"],"award-info":[{"award-number":["200021 137838\/1"]}],"id":[{"id":"10.13039\/501100001711","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001711","name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","doi-asserted-by":"publisher","award":["200020 157191\/1"],"award-info":[{"award-number":["200020 157191\/1"]}],"id":[{"id":"10.13039\/501100001711","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Swarm Intell"],"published-print":{"date-parts":[[2017,12]]},"DOI":"10.1007\/s11721-017-0139-4","type":"journal-article","created":{"date-parts":[[2017,8,17]],"date-time":"2017-08-17T09:33:14Z","timestamp":1502962394000},"page":"243-270","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Automatic synthesis of rulesets for programmable stochastic self-assembly of rotationally symmetric robotic modules"],"prefix":"10.1007","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3348-4702","authenticated-orcid":false,"given":"Bahar","family":"Haghighat","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alcherio","family":"Martinoli","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2017,8,17]]},"reference":[{"key":"139_CR1","doi-asserted-by":"crossref","unstructured":"Asadpour, M., Ashtiani, M. H. Z., Sproewitz, A., & Ijspeert, A. (2009). Graph signature for self-reconfiguration planning of modules with symmetry. In IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 5295\u20135300). IEEE.","DOI":"10.1109\/IROS.2009.5353943"},{"key":"139_CR2","doi-asserted-by":"crossref","unstructured":"Ayanian, N., White, P. J., H\u00e1l\u00e1sz, A., Yim, M., & Kumar, V. (2008). Stochastic control for self-assembly of xbots. In International design engineering technical conferences and computers and information in engineering conference (pp. 1169\u20131176). IEEE.","DOI":"10.1115\/DETC2008-49535"},{"key":"139_CR3","doi-asserted-by":"crossref","unstructured":"Bhalla, N., Bentley, P. J., Jacob, C. (2010). Evolving physical self-assembling systems in two-dimensions. In International conference on evolvable systems (pp. 381\u2013392). Springer.","DOI":"10.1007\/978-3-642-15323-5_33"},{"issue":"3","key":"139_CR4","doi-asserted-by":"crossref","first-page":"475","DOI":"10.1007\/s11047-011-9293-6","volume":"11","author":"N Bhalla","year":"2012","unstructured":"Bhalla, N., Bentley, P. J., Vize, P. D., & Jacob, C. (2012). Programming and evolving physical self-assembling systems in three dimensions. Natural Computing, 11(3), 475\u2013498.","journal-title":"Natural Computing"},{"key":"139_CR5","doi-asserted-by":"crossref","DOI":"10.1142\/1929","volume-title":"Synergetics: Chaos, order, self organization","author":"M Bu\u0161ev","year":"1994","unstructured":"Bu\u0161ev, M. (1994). Synergetics: Chaos, order, self organization. Singapore: World scientific."},{"key":"139_CR6","doi-asserted-by":"crossref","unstructured":"Di Mario, E., Mermoud, G., Mastrangeli, M., & Martinoli, A. (2011). A trajectory-based calibration method for stochastic motion models. In IEEE\/RSJ international conference on intelligent robots and systems (IROS), pp. 4341\u20134347.","DOI":"10.1109\/IROS.2011.6094940"},{"issue":"12","key":"139_CR7","doi-asserted-by":"crossref","first-page":"3180","DOI":"10.1109\/TAC.2015.2418673","volume":"60","author":"M Fox","year":"2015","unstructured":"Fox, M., & Shamma, J. (2015). Probabilistic performance guarantees for distributed self-assembly. IEEE Transactions on Automatic Control, 60(12), 3180\u20133194.","journal-title":"IEEE Transactions on Automatic Control"},{"key":"139_CR8","doi-asserted-by":"crossref","unstructured":"Fox, M. J., & Shamma, J. S. (2010). Communication, convergence, and stochastic stability in self-assembly. In IEEE international conference on decision and control, pp. 7245\u20137250.","DOI":"10.1109\/CDC.2010.5717190"},{"issue":"1","key":"139_CR9","doi-asserted-by":"crossref","first-page":"251","DOI":"10.1109\/LRA.2016.2519940","volume":"1","author":"V Ganesan","year":"2016","unstructured":"Ganesan, V., & Chitre, M. (2016). On stochastic self-assembly of underwater robots. IEEE Robotics and Automation Letters, 1(1), 251\u2013258.","journal-title":"IEEE Robotics and Automation Letters"},{"key":"139_CR10","doi-asserted-by":"crossref","unstructured":"Golestan, K., Asadpour, M., & Moradi, H. (2013). A new graph signature calculation method based on power centrality for modular robots. In International symposium distributed autonomous robotic systems (DARS), pp. 505\u2013516.","DOI":"10.1007\/978-3-642-32723-0_36"},{"key":"139_CR11","doi-asserted-by":"crossref","unstructured":"Haghighat, B., Droz, E., & Martinoli, A. (2015). Lily: A miniature floating robotic platform for programmable stochastic self-assembly. In IEEE international conference on robotics and automation (ICRA), pp. 1941\u20131948.","DOI":"10.1109\/ICRA.2015.7139452"},{"key":"139_CR12","doi-asserted-by":"crossref","unstructured":"Haghighat, B., & Martinolim, A. (2016a). Characterization and validation of a novel robotic system for fluid-mediated programmable stochastic self-assembly. In IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 2778\u20132783). IEEE.","DOI":"10.1109\/IROS.2016.7759431"},{"key":"139_CR13","unstructured":"Haghighat, B., & Martinoli, A. (2016b). A rule synthesis algorithm for programmable stochastic self-assembly of robotic modules. In Proceedings of the international symposium on distributed autonomous robotic systems (DARS)."},{"issue":"8","key":"139_CR14","doi-asserted-by":"crossref","first-page":"138","DOI":"10.3390\/mi7080138","volume":"7","author":"B Haghighat","year":"2016","unstructured":"Haghighat, B., Mastrangeli, M., Mermoud, G., Schill, F., & Martinoli, A. (2016a). Fluid-mediated stochastic self-assembly at centimetric and sub-millimetric scales: Design, modeling, and control. Micromachines, 7(8), 138.","journal-title":"Micromachines"},{"key":"139_CR15","doi-asserted-by":"crossref","unstructured":"Haghighat, B., Platerrier, B., Waegeli, L., & Martinoli, A. (2016b). Synthesizing rulesets for programmable robotic self-assembly: A case study using floating miniaturized robots. In International Conference on Swarm Intelligence (ANTS) (Vol. 9882, pp. 197\u2013209). Springer.","DOI":"10.1007\/978-3-319-44427-7_17"},{"key":"139_CR16","doi-asserted-by":"crossref","unstructured":"Klavins, E. (2002). Automatic synthesis of controllers for distributed assembly and formation forming. In IEEE international conference on robotics and automation (ICRA), pp. 3296\u20133302.","DOI":"10.1109\/ROBOT.2002.1013735"},{"issue":"4","key":"139_CR17","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1109\/MCS.2007.384126","volume":"27","author":"E Klavins","year":"2007","unstructured":"Klavins, E. (2007). Programmable self-assembly. IEEE Control Systems, 27(4), 43\u201356.","journal-title":"IEEE Control Systems"},{"issue":"7","key":"139_CR18","first-page":"4","volume":"6","author":"E Klavins","year":"2006","unstructured":"Klavins, E., Burden, S., & Napp, N. (2006a). Optimal rules for programmed stochastic self-assembly. Self, 6(7), 4\u20133.","journal-title":"Self"},{"issue":"6","key":"139_CR19","doi-asserted-by":"crossref","first-page":"949","DOI":"10.1109\/TAC.2006.876950","volume":"51","author":"E Klavins","year":"2006","unstructured":"Klavins, E., Ghrist, R., & Lipsky, D. (2006b). A grammatical approach to self-organizing robotic systems. IEEE Transactions on Automatic Control, 51(6), 949\u2013962.","journal-title":"IEEE Transactions on Automatic Control"},{"issue":"4\u20135","key":"139_CR20","doi-asserted-by":"crossref","first-page":"384","DOI":"10.1016\/j.tcs.2008.09.062","volume":"410","author":"JI Lathrop","year":"2009","unstructured":"Lathrop, J. I., Lutz, J. H., & Summers, S. M. (2009). Strict self-assembly of discrete Sierpinski triangles. Theoretical Computer Science, 410(4\u20135), 384\u2013405.","journal-title":"Theoretical Computer Science"},{"key":"139_CR21","doi-asserted-by":"crossref","unstructured":"Lochmatter, T., Roduit, P., Cianci, C., Correll, N., Jacot, J., & Martinoli, A. (2008). Swistrack-a flexible open source tracking software for multi-agent systems. In IEEE\/RSJ international conference on intelligent robots and systems (IROS), pp. 4004\u20134010.","DOI":"10.1109\/IROS.2008.4650937"},{"key":"139_CR22","doi-asserted-by":"crossref","unstructured":"Matthey, L., Berman, S., & Kumar, V. (2009). Stochastic strategies for a swarm robotic assembly system. In IEEE international conference on robotics and automation (ICRA) (pp. 1953\u20131958). IEEE.","DOI":"10.1109\/ROBOT.2009.5152457"},{"issue":"1","key":"139_CR23","first-page":"39","volume":"1","author":"O Michel","year":"2004","unstructured":"Michel, O. (2004). WebotsTM: Professional mobile robot simulation. Advanced Robotic Systems, 1(1), 39\u201342.","journal-title":"Advanced Robotic Systems"},{"key":"139_CR24","doi-asserted-by":"crossref","unstructured":"Napp, N., Burden, S., & Klavins, E. (2006). The statistical dynamics of programmed self-assembly. In IEEE international conference on robotics and automation (ICRA) (pp. 1469\u20131476). IEEE.","DOI":"10.1109\/ROBOT.2006.1641916"},{"issue":"3","key":"139_CR25","doi-asserted-by":"crossref","first-page":"738","DOI":"10.1109\/TRO.2008.2012341","volume":"25","author":"R O\u2019Grady","year":"2009","unstructured":"O\u2019Grady, R., Christensen, A. L., & Dorigo, M. (2009). SWARMORPH: Multirobot morphogenesis using directional self-assembly. IEEE Transactions on Robotics, 25(3), 738\u2013743.","journal-title":"IEEE Transactions on Robotics"},{"key":"139_CR26","unstructured":"Rothemund, P. W. K. (2001). Theory and experiments in algorithmic self-assembly. University of Southern California."},{"issue":"6198","key":"139_CR27","doi-asserted-by":"crossref","first-page":"795","DOI":"10.1126\/science.1254295","volume":"345","author":"M Rubenstein","year":"2014","unstructured":"Rubenstein, M., Cornejo, A., & Nagpal, R. (2014). Programmable self-assembly in a thousand-robot swarm. Science, 345(6198), 795\u2013799.","journal-title":"Science"},{"key":"139_CR28","doi-asserted-by":"crossref","unstructured":"Salemi, B., Moll, M., & Shen, W.-M. (2006). SUPERBOT: A deployable, multi-functional, and modular self-reconfigurable robotic system. In IEEE\/RSJ international conference on intelligent robots and systems (IROS), pp. 3636\u20133641.","DOI":"10.1109\/IROS.2006.281719"},{"key":"139_CR29","doi-asserted-by":"crossref","unstructured":"Tolley, M., & Lipson, H. (2010). Fluidic manipulation for scalable stochastic 3D assembly of modular robots. In IEEE international conference on robotics and automation (ICRA), pp. 2473\u20132478.","DOI":"10.1109\/ROBOT.2010.5509664"},{"issue":"5564","key":"139_CR30","doi-asserted-by":"crossref","first-page":"2418","DOI":"10.1126\/science.1070821","volume":"295","author":"GM Whitesides","year":"2002","unstructured":"Whitesides, G. M., & Grzybowski, B. (2002). Self-assembly at all scales. Science, 295(5564), 2418\u20132421.","journal-title":"Science"},{"issue":"5641","key":"139_CR31","doi-asserted-by":"crossref","first-page":"1882","DOI":"10.1126\/science.1089389","volume":"301","author":"H Yan","year":"2003","unstructured":"Yan, H., Park, S. H., Finkelstein, G., Reif, J. H., & LaBean, T. H. (2003). DNA-templated self-assembly of protein arrays and highly conductive nanowires. Science, 301(5641), 1882\u20131884.","journal-title":"Science"}],"container-title":["Swarm Intelligence"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11721-017-0139-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11721-017-0139-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11721-017-0139-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2017,11,24]],"date-time":"2017-11-24T06:28:42Z","timestamp":1511504922000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11721-017-0139-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,8,17]]},"references-count":31,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2017,12]]}},"alternative-id":["139"],"URL":"https:\/\/doi.org\/10.1007\/s11721-017-0139-4","relation":{},"ISSN":["1935-3812","1935-3820"],"issn-type":[{"value":"1935-3812","type":"print"},{"value":"1935-3820","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,8,17]]}}}