{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:58:01Z","timestamp":1777715881654,"version":"3.51.4"},"reference-count":28,"publisher":"SAGE Publications","issue":"8","license":[{"start":{"date-parts":[[2009,6,15]],"date-time":"2009-06-15T00:00:00Z","timestamp":1245024000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2009,8]]},"abstract":"<jats:p>Internal localization, the problem of estimating relative pose for each module of a modular robot, is a prerequisite for many shape control, locomotion, and actuation algorithms. In this paper, we propose a robust hierarchical approach that uses normalized cut to identify dense sub-regions with small mutual localization error, then progressively merges those sub-regions to localize the entire ensemble. Our method works well in both two and three dimensions, and requires neither exact measurements nor rigid inter-module connectors. Most of the computations in our method can be distributed effectively. The result is a robust algorithm that scales to large ensembles. We evaluate our algorithm in two- and three-dimensional simulations of scenarios with up to 10,000 modules.<\/jats:p>","DOI":"10.1177\/0278364909339077","type":"journal-article","created":{"date-parts":[[2009,6,15]],"date-time":"2009-06-15T20:27:25Z","timestamp":1245097645000},"page":"946-961","source":"Crossref","is-referenced-by-count":20,"title":["Distributed Localization of Modular Robot Ensembles"],"prefix":"10.1177","volume":"28","author":[{"given":"Stanislav","family":"Funiak","sequence":"first","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, PA 15213, USA;"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Padmanabhan","family":"Pillai","sequence":"additional","affiliation":[{"name":"Intel Research Pittsburgh, Pittsburgh, PA 15213, USA;"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michael P.","family":"Ashley-Rollman","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, PA 15213, USA;"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jason D.","family":"Campbell","sequence":"additional","affiliation":[{"name":"Intel Research Pittsburgh, Pittsburgh, PA 15213, USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Seth Copen","family":"Goldstein","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, PA 15213, USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2009,6,15]]},"reference":[{"key":"atypb1","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems, 2007 (IROS 2007)","author":"Ashley-Rollman, M.P."},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1145\/1149283.1149286"},{"key":"atypb3","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation (ICRA2006)","author":"Blanco, J.L."},{"key":"atypb4","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems, 2007 (IROS 2007)","author":"Brunskill, E."},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1109\/69.43410"},{"key":"atypb6","volume-title":"Proceedings of the Nineteenth Conference on Uncertainty in Artificial Intelligence (UAI-2003)","author":"Crick, C."},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1023\/A:1015269615729"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.839220"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907085557"},{"key":"atypb10","author":"Goldstein, S.C.","year":"2004","journal-title":"Robosphere"},{"key":"atypb11","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems, 2007 (IROS 2007)","author":"Grisetti, G."},{"key":"atypb12","volume-title":"Proceedings of Robotics: Science and Systems","author":"Grisetti, G."},{"key":"atypb13","volume-title":"Proceedings of the 2006 ACM SIG-MOD International Conference on Management of Data","author":"Loo, B.T."},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008854305733"},{"key":"atypb15","volume-title":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006 (ICRA 2006)","author":"Olson, E."},{"key":"atypb16","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Pillai, P."},{"key":"atypb17","volume-title":"Localization techniques for synthetic reality","author":"Reshko, G.","year":"2004"},{"key":"atypb18","doi-asserted-by":"crossref","unstructured":"Roufas, K., Zhang, Y., Duff, D. and Yim, M. 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