{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,14]],"date-time":"2026-04-14T15:55:06Z","timestamp":1776182106377,"version":"3.50.1"},"reference-count":69,"publisher":"Springer Science and Business Media LLC","issue":"5","license":[{"start":{"date-parts":[[2023,4,10]],"date-time":"2023-04-10T00:00:00Z","timestamp":1681084800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2023,4,10]],"date-time":"2023-04-10T00:00:00Z","timestamp":1681084800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100001381","name":"National Research Foundation Singapore","doi-asserted-by":"publisher","award":["1922200058"],"award-info":[{"award-number":["1922200058"]}],"id":[{"id":"10.13039\/501100001381","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Complex Intell. Syst."],"published-print":{"date-parts":[[2023,10]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Reconfigurable robots are suitable for cleaning applications due to their high flexibility and ability to change shape according to environmental needs. However, continuous change in morphology is not an energy-efficient approach, with the limited battery capacity. This paper presents a metaheuristic-based framework to identify the optimal morphology of a reconfigurable robot, aiming to maximize the area coverage and minimize the energy consumption in the given map. The proposed approach exploits three different metaheuristic algorithms, namely, SMPSO, NSGA-II, and MACO, to generate the optimal morphology for every unique layout of a two-dimensional grid map by considering the path-length as the energy consumption. The novel feature of our approach is the implementation of the footprint-based Complete Coverage Path Planning (CCPP) adaptable for all possible configurations of reconfigurable robots. We demonstrate the proposed method in simulations and experiments using a Tetris-inspired robot with four blocks named<jats:italic>Smorphi<\/jats:italic>, which can reconfigure into an infinite number of configurations by varying its hinge angle. The optimum morphologies were identified for three settings, i.e., 2D indoor map with obstacles and free spaces. The optimum morphology is compared with the standard Tetris shapes in the simulation and the real-world experiment. The results show that the proposed framework efficiently produces non-dominated solutions for choosing the optimal energy-efficient morphologies.<\/jats:p>","DOI":"10.1007\/s40747-023-01015-5","type":"journal-article","created":{"date-parts":[[2023,4,10]],"date-time":"2023-04-10T03:13:32Z","timestamp":1681096412000},"page":"5831-5850","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["A metaheuristic approach to optimal morphology in reconfigurable tiling robots"],"prefix":"10.1007","volume":"9","author":[{"given":"Manivannan","family":"Kalimuthu","sequence":"first","affiliation":[]},{"given":"Thejus","family":"Pathmakumar","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6141-4600","authenticated-orcid":false,"given":"Abdullah Aamir","family":"Hayat","sequence":"additional","affiliation":[]},{"given":"Mohan Rajesh","family":"Elara","sequence":"additional","affiliation":[]},{"given":"Kristin Lee","family":"Wood","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,4,10]]},"reference":[{"key":"1015_CR1","first-page":"249","volume":"48078","author":"S Ferguson","year":"2007","unstructured":"Ferguson S, Siddiqi A, Lewis K, de Weck OL (2007) Flexible and reconfigurable systems. Nomenclat Rev 48078:249\u2013263","journal-title":"Nomenclat Rev"},{"issue":"2","key":"1015_CR2","doi-asserted-by":"publisher","first-page":"527","DOI":"10.1016\/S0007-8506(07)63232-6","volume":"48","author":"Y Koren","year":"1999","unstructured":"Koren Y et al (1999) Reconfigurable manufacturing systems. CIRP Ann 48(2):527\u2013540","journal-title":"CIRP Ann"},{"issue":"3","key":"1015_CR3","doi-asserted-by":"publisher","first-page":"381","DOI":"10.1109\/92.532038","volume":"4","author":"P Lysaght","year":"1996","unstructured":"Lysaght P, Stockwood J (1996) A simulation tool for dynamically reconfigurable field programmable gate arrays. IEEE Trans Very Large Scale Integrat (VLSI) Syst 4(3):381\u2013390","journal-title":"IEEE Trans Very Large Scale Integrat (VLSI) Syst"},{"issue":"2","key":"1015_CR4","doi-asserted-by":"publisher","first-page":"171","DOI":"10.1145\/508352.508353","volume":"34","author":"K Compton","year":"2002","unstructured":"Compton K, Hauck S (2002) Reconfigurable computing: a survey of systems and software. ACM Comput Surv (csuR) 34(2):171\u2013210","journal-title":"ACM Comput Surv (csuR)"},{"issue":"3","key":"1015_CR5","doi-asserted-by":"publisher","first-page":"424","DOI":"10.1109\/JPROC.2015.2396000","volume":"103","author":"J Costantine","year":"2015","unstructured":"Costantine J, Tawk Y, Barbin SE, Christodoulou CG (2015) Reconfigurable antennas: design and applications. Proc IEEE 103(3):424\u2013437","journal-title":"Proc IEEE"},{"key":"1015_CR6","doi-asserted-by":"crossref","unstructured":"Fukuda T, Nakagawa S (1987) A dynamically reconfigurable robotic system (concept of a system and optimal configurations) SPIE 856:588\u2013595","DOI":"10.1117\/12.943013"},{"key":"1015_CR7","doi-asserted-by":"publisher","first-page":"13969","DOI":"10.1109\/ACCESS.2020.2965327","volume":"8","author":"N Tan","year":"2020","unstructured":"Tan N, Hayat AA, Elara MR, Wood KL (2020) A framework for taxonomy and evaluation of self-reconfigurable robotic systems. IEEE Access 8:13969\u201313986","journal-title":"IEEE Access"},{"issue":"4","key":"1015_CR8","doi-asserted-by":"publisher","first-page":"403","DOI":"10.1109\/TMECH.2002.806233","volume":"7","author":"A Castano","year":"2002","unstructured":"Castano A, Behar A, Will PM (2002) The conro modules for reconfigurable robots. IEEE\/ASME Trans Mech 7(4):403\u2013409","journal-title":"IEEE\/ASME Trans Mech"},{"key":"1015_CR9","doi-asserted-by":"crossref","unstructured":"Rus D, Vona M (2000) A basis for self-reconfiguring robots using crystal modules, IEEE 3:2194\u20132202","DOI":"10.1109\/IROS.2000.895295"},{"issue":"2","key":"1015_CR10","doi-asserted-by":"publisher","first-page":"165","DOI":"10.1007\/s10514-006-8546-1","volume":"21","author":"EH \u00d8stergaard","year":"2006","unstructured":"\u00d8stergaard EH, Kassow K, Beck R, Lund HH (2006) Design of the atron lattice-based self-reconfigurable robot. Autono Robots 21(2):165\u2013183","journal-title":"Autono Robots"},{"issue":"6","key":"1015_CR11","doi-asserted-by":"publisher","DOI":"10.1115\/1.4053631","volume":"144","author":"AA Hayat","year":"2022","unstructured":"Hayat AA, Yi L, Kalimuthu M, Elara M, Wood KL (2022) Reconfigurable robotic system design with application to cleaning and maintenance. J Mech Design 144(6):063305","journal-title":"J Mech Design"},{"issue":"15","key":"1015_CR12","doi-asserted-by":"publisher","first-page":"5168","DOI":"10.3390\/s21155168","volume":"21","author":"T Pathmakumar","year":"2021","unstructured":"Pathmakumar T, Sivanantham V, Anantha\u00a0Padmanabha SG, Elara MR, Tun TT (2021) Towards an optimal footprint based area coverage strategy for a false-ceiling inspection robot. Sensors 21(15):5168","journal-title":"Sensors"},{"key":"1015_CR13","doi-asserted-by":"crossref","unstructured":"Ilyas M, Yuyao S, Mohan RE, Devarassu M, Kalimuthu M (2018) Design of stetro: a modular, reconfigurable, and autonomous staircase cleaning robot. J Sens 2018","DOI":"10.1109\/REMAR.2018.8449883"},{"key":"1015_CR14","doi-asserted-by":"crossref","unstructured":"Yuyao S, Elara MR, Kalimuthu M, Devarassu M (IEEE, 2018) stetro: a modular reconfigurable cleaning robot 1\u20138","DOI":"10.1155\/2018\/8190802"},{"key":"1015_CR15","doi-asserted-by":"publisher","first-page":"180","DOI":"10.1016\/j.autcon.2018.09.006","volume":"96","author":"TT Tun","year":"2018","unstructured":"Tun TT, Elara MR, Kalimuthu M, Vengadesh A (2018) Glass facade cleaning robot with passive suction cups and self-locking trapezoidal lead screw drive. Automat Construct 96:180\u2013188","journal-title":"Automat Construct"},{"issue":"18","key":"1015_CR16","doi-asserted-by":"publisher","first-page":"6279","DOI":"10.3390\/s21186279","volume":"21","author":"B Ramalingam","year":"2021","unstructured":"Ramalingam B et al (2021) Stetro-deep learning powered staircase cleaning and maintenance reconfigurable robot. Sensors 21(18):6279","journal-title":"Sensors"},{"issue":"8","key":"1015_CR17","doi-asserted-by":"publisher","first-page":"2577","DOI":"10.3390\/s21082577","volume":"21","author":"AV Le","year":"2021","unstructured":"Le AV, Veerajagadheswar P, Thiha\u00a0Kyaw P, Elara MR, Nhan NHK (2021) Coverage path planning using reinforcement learning-based tsp for htetran-a polyabolo-inspired self-reconfigurable tiling robot. Sensors 21(8):2577","journal-title":"Sensors"},{"issue":"16","key":"1015_CR18","doi-asserted-by":"publisher","first-page":"5362","DOI":"10.3390\/s21165362","volume":"21","author":"SBP Samarakoon","year":"2021","unstructured":"Samarakoon SBP et al (2021) Modelling and control of a reconfigurable robot for achieving reconfiguration and locomotion with different shapes. Sensors 21(16):5362","journal-title":"Sensors"},{"issue":"1","key":"1015_CR19","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1186\/s40638-014-0001-8","volume":"1","author":"A Sinha","year":"2014","unstructured":"Sinha A, Tan N, Mohan RE (2014) Terrain perception for a reconfigurable biomimetic robot using monocular vision. Robot Biomimet 1(1):1\u201311","journal-title":"Robot Biomimet"},{"key":"1015_CR20","doi-asserted-by":"crossref","unstructured":"Rubenstein M, Payne K, Will P, Shen W-M (2004) Docking among independent and autonomous conro self-reconfigurable robots 3:2877\u20132882","DOI":"10.1109\/ROBOT.2004.1307497"},{"key":"1015_CR21","doi-asserted-by":"crossref","unstructured":"Prabakaran V, Elara MR, Pathmakumar T, Nansai S (2017) htetro: A tetris inspired shape shifting floor cleaning robot 6105\u20136112","DOI":"10.1109\/ICRA.2017.7989725"},{"key":"1015_CR22","unstructured":"Golomb SW (1996) Polyominoes: puzzles, patterns, problems, and packings Vol. 111"},{"key":"1015_CR23","doi-asserted-by":"publisher","first-page":"155","DOI":"10.1016\/j.autcon.2018.03.015","volume":"91","author":"V Prabakaran","year":"2018","unstructured":"Prabakaran V, Elara MR, Pathmakumar T, Nansai S (2018) Floor cleaning robot with reconfigurable mechanism. Autom Construct 91:155\u2013165","journal-title":"Autom Construct"},{"key":"1015_CR24","doi-asserted-by":"publisher","first-page":"121267","DOI":"10.1109\/ACCESS.2020.3006579","volume":"8","author":"KP Cheng","year":"2020","unstructured":"Cheng KP, Mohan RE, Nhan NHK, Le AV (2020) Multi-objective genetic algorithm-based autonomous path planning for hinged-tetro reconfigurable tiling robot. IEEE Access 8:121267\u2013121284","journal-title":"IEEE Access"},{"key":"1015_CR25","doi-asserted-by":"publisher","first-page":"69816","DOI":"10.1109\/ACCESS.2020.2986838","volume":"8","author":"SBP Samarakoon","year":"2020","unstructured":"Samarakoon SBP, Muthugala MVJ, Le AV, Elara MR (2020) hTetro-infi: a reconfigurable floor cleaning robot with infinite morphologies. IEEE Access 8:69816\u201369828","journal-title":"IEEE Access"},{"issue":"21","key":"1015_CR26","doi-asserted-by":"publisher","first-page":"4112","DOI":"10.3390\/en12214112","volume":"12","author":"AA Hayat","year":"2019","unstructured":"Hayat AA, Karthikeyan P, Vega-Heredia M, Elara MR (2019) Modeling and assessing of self-reconfigurable cleaning robot htetro based on energy consumption. Energies 12(21):4112","journal-title":"Energies"},{"issue":"6","key":"1015_CR27","doi-asserted-by":"publisher","first-page":"1136","DOI":"10.3390\/en12061136","volume":"12","author":"AV Le","year":"2019","unstructured":"Le AV et al (2019) Realization energy optimization of complete path planning in differential drive based self-reconfigurable floor cleaning robot. Energies 12(6):1136","journal-title":"Energies"},{"key":"1015_CR28","doi-asserted-by":"publisher","first-page":"209750","DOI":"10.1109\/ACCESS.2020.3038905","volume":"8","author":"AV Le","year":"2020","unstructured":"Le AV et al (2020) Reinforcement learning-based energy-aware area coverage for reconfigurable hrombo tiling robot. IEEE Access 8:209750\u2013209761","journal-title":"IEEE Access"},{"key":"1015_CR29","doi-asserted-by":"publisher","first-page":"94642","DOI":"10.1109\/ACCESS.2019.2928467","volume":"7","author":"KP Cheng","year":"2019","unstructured":"Cheng KP, Mohan RE, Nhan NHK, Le AV (2019) Graph theory-based approach to accomplish complete coverage path planning tasks for reconfigurable robots. IEEE Access 7:94642\u201394657","journal-title":"IEEE Access"},{"issue":"8","key":"1015_CR30","doi-asserted-by":"publisher","first-page":"2585","DOI":"10.3390\/s18082585","volume":"18","author":"AV Le","year":"2018","unstructured":"Le AV, Prabakaran V, Sivanantham V, Mohan RE (2018) Modified a-star algorithm for efficient coverage path planning in tetris inspired self-reconfigurable robot with integrated laser sensor. Sensors 18(8):2585","journal-title":"Sensors"},{"issue":"12","key":"1015_CR31","doi-asserted-by":"publisher","first-page":"1258","DOI":"10.1016\/j.robot.2013.09.004","volume":"61","author":"E Galceran","year":"2013","unstructured":"Galceran E, Carreras M (2013) A survey on coverage path planning for robotics. Robot Auton Syst 61(12):1258\u20131276","journal-title":"Robot Auton Syst"},{"issue":"4","key":"1015_CR32","doi-asserted-by":"publisher","first-page":"462","DOI":"10.1109\/70.59357","volume":"6","author":"VJ Lumelsky","year":"1990","unstructured":"Lumelsky VJ, Mukhopadhyay S, Sun K (1990) Dynamic path planning in sensor-based terrain acquisition. IEEE Trans Robot Automat 6(4):462\u2013472","journal-title":"IEEE Trans Robot Automat"},{"key":"1015_CR33","doi-asserted-by":"crossref","unstructured":"Choset H, Pignon P (1998) Coverage path planning: the boustrophedon cellular decomposition 203\u2013209","DOI":"10.1007\/978-1-4471-1273-0_32"},{"key":"1015_CR34","doi-asserted-by":"crossref","unstructured":"Moravec H, Elfes A (1985) High resolution maps from wide angle sonar 2:116\u2013121","DOI":"10.1109\/ROBOT.1985.1087316"},{"key":"1015_CR35","unstructured":"Zelinsky A, Jarvis RA, Byrne J, Yuta S et al (1993) Planning paths of complete coverage of an unstructured environment by a mobile robot 13:533\u2013538"},{"key":"1015_CR36","doi-asserted-by":"crossref","unstructured":"Gabriely Y, Rimon E (2002) Spiral-stc: an on-line coverage algorithm of grid environments by a mobile robot 1:954\u2013960","DOI":"10.1109\/ROBOT.2002.1013479"},{"key":"1015_CR37","unstructured":"Xu L (2011) Graph planning for environmental coverage. Carnegie Mellon University"},{"key":"1015_CR38","doi-asserted-by":"crossref","unstructured":"Wong SC, MacDonald BA (2003) A topological coverage algorithm for mobile robots 2:1685\u20131690","DOI":"10.1109\/IROS.2003.1248886"},{"key":"1015_CR39","doi-asserted-by":"crossref","unstructured":"Atkar PN, Choset H, Rizzi AA, Acar EU (2001) Exact cellular decomposition of closed orientable surfaces embedded in\/spl rfr\/\/sup 3 1:699\u2013704","DOI":"10.1109\/ROBOT.2001.932632"},{"key":"1015_CR40","unstructured":"Cheng P, Keller J, Kumar V (2008) Time-optimal uav trajectory planning for 3d urban structure coverage 2750\u20132757"},{"key":"1015_CR41","unstructured":"Bello I, Pham H, Le QV, Norouzi M, Bengio S (2016) Neural combinatorial optimization with reinforcement learning. arXiv preprint arXiv:1611.09940"},{"issue":"12","key":"1015_CR42","doi-asserted-by":"publisher","first-page":"1347","DOI":"10.1109\/12.106220","volume":"40","author":"GA Tagliarini","year":"1991","unstructured":"Tagliarini GA, Christ JF, Page EW (1991) Optimization using neural networks. IEEE Trans Comput 40(12):1347\u20131358","journal-title":"IEEE Trans Comput"},{"issue":"16","key":"1015_CR43","doi-asserted-by":"publisher","first-page":"4445","DOI":"10.3390\/s20164445","volume":"20","author":"MVJ Muthugala","year":"2020","unstructured":"Muthugala MVJ, Samarakoon SBP, Mohan\u00a0Rayguru M, Ramalingam B, Elara MR (2020) Wall-following behavior for a disinfection robot using type 1 and type 2 fuzzy logic systems. Sensors 20(16):4445","journal-title":"Sensors"},{"issue":"4","key":"1015_CR44","doi-asserted-by":"publisher","first-page":"421","DOI":"10.1016\/S0022-5193(05)80161-4","volume":"154","author":"JM Savinell","year":"1992","unstructured":"Savinell JM, Palsson BO (1992) Network analysis of intermediary metabolism using linear optimization. i. development of mathematical formalism. J Theor Biol 154(4):421\u2013454","journal-title":"J Theor Biol"},{"key":"1015_CR45","doi-asserted-by":"crossref","unstructured":"Ting T, Yang X-S, Cheng S, Huang K (2015) Hybrid metaheuristic algorithms: past, present, and future. Recent Adv Swarm Intell Evolut Comput 71\u201383","DOI":"10.1007\/978-3-319-13826-8_4"},{"key":"1015_CR46","doi-asserted-by":"crossref","unstructured":"Osman IH, Kelly JP (1996) Meta-heuristics: an overview. Meta-heuristics 1\u201321","DOI":"10.1007\/978-1-4613-1361-8_1"},{"issue":"4","key":"1015_CR47","doi-asserted-by":"publisher","first-page":"1797","DOI":"10.1007\/s40747-020-00190-z","volume":"7","author":"Y Yu","year":"2021","unstructured":"Yu Y et al (2021) Adsorption control of a pipeline robot based on improved PSO algorithm. Complex Intell Syst 7(4):1797\u20131803","journal-title":"Complex Intell Syst"},{"issue":"2","key":"1015_CR48","doi-asserted-by":"publisher","first-page":"873","DOI":"10.1007\/s40747-020-00252-2","volume":"7","author":"N Geng","year":"2021","unstructured":"Geng N, Chen Z, Nguyen QA, Gong D (2021) Particle swarm optimization algorithm for the optimization of rescue task allocation with uncertain time constraints. Complex Intell Syst 7(2):873\u2013890","journal-title":"Complex Intell Syst"},{"key":"1015_CR49","doi-asserted-by":"crossref","unstructured":"Mo Y, You X, Liu S (2022) Multi-colony ant optimization with dynamic collaborative mechanism and cooperative game. Complex Intell Syst 1\u201318","DOI":"10.1007\/s40747-022-00716-7"},{"key":"1015_CR50","doi-asserted-by":"crossref","unstructured":"Masehian E, Sedighizadeh D (2010) A multi-objective PSO-based algorithm for robot path planning 465\u2013470","DOI":"10.1109\/ICIT.2010.5472755"},{"key":"1015_CR51","doi-asserted-by":"publisher","first-page":"105086","DOI":"10.1109\/ACCESS.2019.2932008","volume":"7","author":"Y Wang","year":"2019","unstructured":"Wang Y et al (2019) Reconnaissance mission conducted by uav swarms based on distributed PSO path planning algorithms. IEEE Access 7:105086\u2013105099","journal-title":"IEEE Access"},{"key":"1015_CR52","doi-asserted-by":"crossref","unstructured":"Hu Y, Yang SX (2004) A knowledge based genetic algorithm for path planning of a mobile robot 5:4350\u20134355","DOI":"10.1109\/ROBOT.2004.1302402"},{"key":"1015_CR53","doi-asserted-by":"publisher","first-page":"14246","DOI":"10.1109\/ACCESS.2019.2894524","volume":"7","author":"K Albina","year":"2019","unstructured":"Albina K, Lee SG (2019) Hybrid stochastic exploration using grey wolf optimizer and coordinated multi-robot exploration algorithms. IEEE Access 7:14246\u201314255","journal-title":"IEEE Access"},{"key":"1015_CR54","doi-asserted-by":"publisher","first-page":"153","DOI":"10.1016\/j.compag.2013.09.008","volume":"99","author":"J Valente","year":"2013","unstructured":"Valente J, Del Cerro J, Barrientos A, Sanz D (2013) Aerial coverage optimization in precision agriculture management: a musical harmony inspired approach. Comput Electron Agric 99:153\u2013159","journal-title":"Comput Electron Agric"},{"issue":"3","key":"1015_CR55","first-page":"175","volume":"39","author":"MdSG Tsuzuki","year":"2006","unstructured":"Tsuzuki MdSG, de Castro\u00a0Martins T, Takase FK (2006) Robot path planning using simulated annealing. IFAC Proc 39(3):175\u2013180","journal-title":"IFAC Proc"},{"key":"1015_CR56","doi-asserted-by":"crossref","unstructured":"Chibin Z, Xingsong W, Yong D (2008) Complete coverage path planning based on ant colony algorithm 357\u2013361","DOI":"10.1109\/MMVIP.2008.4749559"},{"issue":"2","key":"1015_CR57","doi-asserted-by":"publisher","first-page":"79","DOI":"10.1007\/s40747-017-0051-y","volume":"4","author":"M Pazooki","year":"2018","unstructured":"Pazooki M, Mazinan A (2018) Hybrid fuzzy-based sliding-mode control approach, optimized by genetic algorithm for quadrotor unmanned aerial vehicles. Complex Intell Syst 4(2):79\u201393","journal-title":"Complex Intell Syst"},{"key":"1015_CR58","doi-asserted-by":"crossref","unstructured":"Singh V et al (2009) Innovations in design through transformation: a fundamental study of transformation principles. J Mech Design 131(8)","DOI":"10.1115\/1.3125205"},{"key":"1015_CR59","doi-asserted-by":"crossref","unstructured":"Vikhar PA (2016) Evolutionary algorithms: a critical review and its future prospects 261\u2013265","DOI":"10.1109\/ICGTSPICC.2016.7955308"},{"key":"1015_CR60","doi-asserted-by":"crossref","unstructured":"Kalimuthu M, Hayat A, Elara M, Wood K (2021) Transformation design principles as enablers for designing reconfigurable robots 85420:V006T06A008","DOI":"10.1115\/DETC2021-69373"},{"issue":"8","key":"1015_CR61","doi-asserted-by":"publisher","first-page":"2595","DOI":"10.3390\/s21082595","volume":"21","author":"B Ramalingam","year":"2021","unstructured":"Ramalingam B et al (2021) Deep learning based pavement inspection using self-reconfigurable robot. Sensors 21(8):2595","journal-title":"Sensors"},{"key":"1015_CR62","doi-asserted-by":"crossref","unstructured":"Eberhart R, Kennedy J (1942) Particle swarm optimization 1948","DOI":"10.1109\/ICNN.1995.488968"},{"key":"1015_CR63","doi-asserted-by":"crossref","unstructured":"Nebro AJ et\u00a0al (2009) SMPSO: a new PSO-based metaheuristic for multi-objective optimization, 66\u201373","DOI":"10.1109\/MCDM.2009.4938830"},{"issue":"2","key":"1015_CR64","doi-asserted-by":"publisher","first-page":"182","DOI":"10.1109\/4235.996017","volume":"6","author":"K Deb","year":"2002","unstructured":"Deb K, Pratap A, Agarwal S, Meyarivan T (2002) A fast and elitist multiobjective genetic algorithm: NSGA-II. IEEE Trans Evolut Comput 6(2):182\u2013197","journal-title":"IEEE Trans Evolut Comput"},{"issue":"9\u201312","key":"1015_CR65","doi-asserted-by":"publisher","first-page":"883","DOI":"10.1016\/j.cma.2010.11.014","volume":"200","author":"X Wang","year":"2011","unstructured":"Wang X, Hirsch C, Kang S, Lacor C (2011) Multi-objective optimization of turbomachinery using improved nsga-ii and approximation model. Comput Methods Appl Mech Eng 200(9\u201312):883\u2013895","journal-title":"Comput Methods Appl Mech Eng"},{"issue":"1","key":"1015_CR66","doi-asserted-by":"publisher","first-page":"53","DOI":"10.1109\/4235.585892","volume":"1","author":"M Dorigo","year":"1997","unstructured":"Dorigo M, Gambardella LM (1997) Ant colony system: a cooperative learning approach to the traveling salesman problem. IEEE Trans Evolut Comput 1(1):53\u201366","journal-title":"IEEE Trans Evolut Comput"},{"key":"1015_CR67","unstructured":"Dorigo M, Di Caro G (1999) Ant colony optimization: a new meta-heuristic 2:1470\u20131477"},{"issue":"53","key":"1015_CR68","doi-asserted-by":"publisher","first-page":"2338","DOI":"10.21105\/joss.02338","volume":"5","author":"F Biscani","year":"2020","unstructured":"Biscani F, Izzo D (2020) A parallel global multiobjective framework for optimization: pagmo. J Open Sour Softw 5(53):2338","journal-title":"J Open Sour Softw"},{"key":"1015_CR69","doi-asserted-by":"crossref","unstructured":"Acciarini G, Izzo D, Mooij E (2020) Mhaco: a multi-objective hypervolume-based ant colony optimizer for space trajectory optimization, 1\u20138","DOI":"10.1109\/CEC48606.2020.9185694"}],"container-title":["Complex &amp; Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s40747-023-01015-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s40747-023-01015-5\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s40747-023-01015-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,17]],"date-time":"2024-10-17T23:16:52Z","timestamp":1729207012000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s40747-023-01015-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,4,10]]},"references-count":69,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2023,10]]}},"alternative-id":["1015"],"URL":"https:\/\/doi.org\/10.1007\/s40747-023-01015-5","relation":{},"ISSN":["2199-4536","2198-6053"],"issn-type":[{"value":"2199-4536","type":"print"},{"value":"2198-6053","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,4,10]]},"assertion":[{"value":"22 July 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"17 February 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 April 2023","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 declare that they have no conflict of interest","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"Not applicable.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval"}},{"value":"Not applicable.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate:"}},{"value":"Yes","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication:"}}]}}