Automatic Design of Robot Swarms

DeimOS: a ROS-ready operating system for the e-puck

Autorzy: M. Kegeleirs, D. Garzon Ramos, and M. Birattari
Opublikowane w: IRIDIA — Technical Report Series. ISSN 1781-3794, Numer IridiaTr2022-013, 2022
Wydawca: IRIDIA, Université Libre de Bruxelles

Notes on the estimation of the expected performance of automatic methods for the design of control software for robot swarms.

Autorzy: M. Birattari
Opublikowane w: IRIDIA — Technical Report Series. ISSN 1781-3794, Numer IridiaTr2020-010, 2020
Wydawca: IRIDIA, Université Libre de Bruxelles

Mercator: hardware and software architecture for experiments in swarm SLAM

Autorzy: M. Kegeleirs, R. Todesco, D. Garzón Ramos, G. Legarda Herranz, M. Birattari
Opublikowane w: IRIDIA — Technical Report Series. ISSN 1781-3794, Numer IridiaTr2022-012, 2022
Wydawca: IRIDIA, Université Libre de Bruxelles

Minimizing the variance in the estimation of the performance of a method for the fully-automatic design of robot swarms: a mathematical proof.

Autorzy: A. Cotorruelo, A. Ligot, E. Garone, M. Birattari
Opublikowane w: IRIDIA — Technical Report Series. ISSN 1781-3794, 2021
Wydawca: IRIDIA, Université Libre de Bruxelles

Search space for AutoMoDe-Chocolate and AutoMoDe-Maple.

Autorzy: J. Kuckling, A. Ligot, D. Bozhinoski, M. Birattari
Opublikowane w: IRIDIA — Technical Report Series. ISSN 1781-3794, 2018
Wydawca: IRIDIA, Université Libre de Bruxelles

AutoMoDe, NEAT, and EvoStick: Implementations for the e-puck robot in ARGoS3.

Autorzy: A. Ligot, K. Hasselmann, B. Delhaisse, L. Garattoni, G. Francesca, M. Birattari
Opublikowane w: IRIDIA — Technical Report Series. ISSN 1781-3794, 2017
Wydawca: IRIDIA, Université Libre de Bruxelles

MoCA: a modular RGB color arena for swarm robotics experiments

Autorzy: D. Garzón Ramos, M. Salman, K. Ubeda Arriaza, K. Hasselmann, M. Birattari
Opublikowane w: IRIDIA — Technical Report Series. ISSN 1781-3794, Numer IridiaTr2022-014, 2022
Wydawca: IRIDIA, Université Libre de Bruxelles

Tycho: a robust, ROS-based tracking system for robot swarms.

Autorzy: G. Legarda Herranz, D. Garzón Ramos, J. Kuckling, M. Kegeleirs, M. Birattari
Opublikowane w: IRIDIA — Technical Report Series. ISSN 1781-3794, 2022
Wydawca: IRIDIA, Université Libre de Bruxelles

Reference models for AutoMoDe.

Autorzy: K. Hasselmann, A. Ligot, G. Francesca, D. Garzón Ramos, M. Salman, J. Kuckling, F. J. Mendiburu, M. Birattari
Opublikowane w: IRIDIA — Technical Report Series. ISSN 1781-3794, 2018
Wydawca: IRIDIA, Université Libre de Bruxelles

BRIC: an interactive smart object for swarm robotics research

Autorzy: G. Legarda Herranz, P. Rochala, P. Georgiopoulou, A. Ligot, M. Salman, M. Birattari
Opublikowane w: IRIDIA — Technical Report Series. ISSN 1781-3794, 2022
Wydawca: IRIDIA, Université Libre de Bruxelles

AutoMoDe editor: A visualization tool for AutoMoDe.

Autorzy: J. Kuckling, K. Hasselmann, V. van Pelt, C. Kiere, M. Birattari
Opublikowane w: IRIDIA — Technical Report Series. ISSN 1781-3794, Numer IridiaTr2021-009, 2021
Wydawca: IRIDIA, Université Libre de Bruxelles

AutoMoDe-Arlequin: Neural Networks as Behavioral Modules for the Automatic Design of Probabilistic Finite-State Machines

Autorzy: Antoine Ligot, Ken Hasselmann, Mauro Birattari
Opublikowane w: Swarm Intelligence - 12th International Conference, ANTS 2020, Barcelona, Spain, October 26–28, 2020, Proceedings, 2020, Strona(/y) 271-281, ISBN 978-3-030-60375-5
Wydawca: Springer
DOI: 10.1007/978-3-030-60376-2_21

Automatic Modular Design of Behavior Trees for Robot Swarms with Communication Capabilites

Autorzy: Jonas Kuckling, Vincent van Pelt, Mauro Birattari
Opublikowane w: Applications of Evolutionary Computation - 24th International Conference, EvoApplications 2021, Held as Part of EvoStar 2021, Virtual Event, April 7–9, 2021, Proceedings, 2021, Strona(/y) 130-145, ISBN 978-3-030-72698-0
Wydawca: Springer International Publishing
DOI: 10.1007/978-3-030-72699-7_9

Decentralised Negotiation for Multi-Object Collective Transport with Robot Swarms

Autorzy: Guillermo Legarda Herranz, Sabine Hauert, Simon Jones
Opublikowane w: IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2022, Strona(/y) 186-191, ISBN 978-1-6654-8217-2
Wydawca: IEEE
DOI: 10.1109/icarsc55462.2022.9784801

Controlling Robot Swarm Aggregation Through a Minority of Informed Robots

Autorzy: Antoine Sion, Andreagiovanni Reina, Mauro Birattari, Elio Tuci
Opublikowane w: Lecture Notes in Computer Science, 2022, Strona(/y) 91–103
Wydawca: Springer
DOI: 10.1007/978-3-031-20176-9_8

The automatic off-line design of robot swarms: recent advances and perspectives

Autorzy: David Garzón Ramos, Darko Bozhinoski, Gianpiero Francesca,Lorenzo Garattoni, Ken Hasselmann, Miquel Kegeleirs,Jonas Kuckling, Antoine Ligot, Fernando J. Mendiburu,Federico Pagnozzi, Muhammad Salman,Thomas Stützle, Mauro Birattari
Opublikowane w: R2T2: Robotics Research for Tomorrow’s Technology, 2021
Wydawca: Technology Innovation Institute

A Hybrid-System Formalism to Verify Properties of Robot Swarms

Autorzy: Guillermo Legarda Herranz, Emanuele Garone, Mauro Birattari
Opublikowane w: 41st Benelux Meeting on Systems and Control, 2022, Strona(/y) 46
Wydawca: 41st Benelux Meeting on Systems and Control

Designing control software for robot swarms: Software engineering for the development of automatic design methods

Autorzy: Darko Bozhinoski, Mauro Birattari
Opublikowane w: 2018 ACM/IEEE 1st International Workshop on Robotics Software Engineering, 2018, Strona(/y) 33-35, ISBN 978-1-4503-5760-9
Wydawca: ACM
DOI: 10.1145/3196558.3196564

Automatic Design of Communication-Based Behaviors for Robot Swarms

Autorzy: Ken Hasselmann, Frédéric Robert, Mauro Birattari
Opublikowane w: Swarm Intelligence - 11th International Conference, ANTS 2018, Rome, Italy, October 29–31, 2018, Proceedings, 2018, Strona(/y) 16-29, ISBN 978-3-030-00532-0
Wydawca: Springer International Publishing
DOI: 10.1007/978-3-030-00533-7_2

Behavior Trees as a Control Architecture in the Automatic Modular Design of Robot Swarms

Autorzy: Jonas Kuckling, Antoine Ligot, Darko Bozhinoski, Mauro Birattari
Opublikowane w: Swarm Intelligence - 11th International Conference, ANTS 2018, Rome, Italy, October 29–31, 2018, Proceedings, 2018, Strona(/y) 30-43, ISBN 978-3-030-00532-0
Wydawca: Springer International Publishing
DOI: 10.1007/978-3-030-00533-7_3

On Mimicking the Effects of the Reality Gap with Simulation-Only Experiments

Autorzy: Antoine Ligot, Mauro Birattari
Opublikowane w: Swarm Intelligence - 11th International Conference, ANTS 2018, Rome, Italy, October 29–31, 2018, Proceedings, 2018, Strona(/y) 109-122, ISBN 978-3-030-00532-0
Wydawca: Springer International Publishing
DOI: 10.1007/978-3-030-00533-7_9

Hybrid Control of Swarms for Resource Selection

Autorzy: Marco Trabattoni, Gabriele Valentini, Marco Dorigo
Opublikowane w: Swarm Intelligence - 11th International Conference, ANTS 2018, Rome, Italy, October 29–31, 2018, Proceedings, 2018, Strona(/y) 57-70, ISBN 978-3-030-00532-0
Wydawca: Springer International Publishing
DOI: 10.1007/978-3-030-00533-7_5

Simulating Multi-robot Construction in ARGoS

Autorzy: Michael Allwright, Navneet Bhalla, Carlo Pinciroli, Marco Dorigo
Opublikowane w: Swarm Intelligence - 11th International Conference, ANTS 2018, Rome, Italy, October 29–31, 2018, Proceedings, 2018, Strona(/y) 188-200, ISBN 978-3-030-00532-0
Wydawca: Springer International Publishing
DOI: 10.1007/978-3-030-00533-7_15

Random Walk Exploration for Swarm Mapping

Autorzy: Miquel Kegeleirs, David Garzón Ramos, Mauro Birattari
Opublikowane w: Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, London, UK, July 3–5, 2019, Proceedings, Part II, 2019, Strona(/y) 211-222, ISBN 978-3-030-25331-8
Wydawca: Springer International Publishing
DOI: 10.1007/978-3-030-25332-5_19

Simulated Annealing as an Optimization Algorithm in the Automatic Modular Design of Control Software for Robot Swarms

Autorzy: Jonas Kuckling, Keneth Ubeda Arriaza, Mauro Birattari
Opublikowane w: BNAIC 2019: Artificial Intelligence, 2019
Wydawca: Springer

Comparison of different Exploration Schemes in the Automatic Modular Design of Robot Swarms

Autorzy: Gaëtan Spaey, Miquel Kegeleirs, David Garzón Ramos, Mauro Birattari
Opublikowane w: BNAIC 2019: Artificial Intelligence, 2019
Wydawca: Springer

Impact of the Update Time on the Aggregation of Robotic Swarms Through Informed Robots

Autorzy: Antoine Sion, Andreagiovanni Reina, Mauro Birattari, Elio Tuci
Opublikowane w: Lecture Notes in Computer Science, 2022, Strona(/y) 193–204
Wydawca: Springer
DOI: 10.1007/978-3-031-16770-6_16

Introduciendo la robótica de enjambres a entusiastas de la robótica: experiencias y resultados de una colaboración académica

Autorzy: David Garzón Ramos, Juan Pablo Bolaños, Jazmín Diaz, Gabriel Pachajoa, Mauro Birattari
Opublikowane w: I Congreso Internacional de la Sociedad de Doctores e Investigadores de Colombia (SOPHIC 2021): la ciencia al servicio de la sociedad, 2022, Strona(/y) 46-48
Wydawca: Editorial SoPhIC

Design of robot swarms by optimization: An instance of AutoMoDe based on simulated annealing.

Autorzy: K. Ubeda Arriaza
Opublikowane w: Master’s Thesis, Université libre de Bruxelles, 2019
Wydawca: The Demiurge Project

Automatic modular design of control software in robot swarms: Towards exploitation of behaviour trees features.

Autorzy: V. van Pelt
Opublikowane w: Master’s Thesis, Université libre de Bruxelles, 2020
Wydawca: The Demiurge Project

Importance sampling with intermediate rewards to estimate the performance of a robot swarm.

Autorzy: I.-B. Vlad
Opublikowane w: Master’s Thesis, Vrije Universiteit Brussel, 2021
Wydawca: The Demiurge Project

Comparison of state-of-the-art evolutionary methods for the design of robot swarms.

Autorzy: J. Ruddick
Opublikowane w: Master’s Thesis, Université libre de Bruxelles, 2019
Wydawca: The Demiurge Project

Intuitive mission specification for robot swarm by learning from demonstration.

Autorzy: I. Gharbi
Opublikowane w: Master’s Thesis, Université libre de Bruxelles, 2022
Wydawca: The Demiurge Project

RVR: A new robot platform for swarm robotics. The building blocks of new horizons.

Autorzy: R. Todesco
Opublikowane w: Master’s Thesis, Université libre de Bruxelles, 2022
Wydawca: The Demiurge Project

A family of methods based on NEAT for the automatic design of behaviors of single robots and robot swarms.

Autorzy: A. AlFaham
Opublikowane w: Master’s Thesis, Vrije Universiteit Brussel, 2019
Wydawca: The Demiurge Project

Comparación empírica de métodos de diseño de enjambres de robots: un estudio en simulación sobre enjambres que coordinan a otros enjambres.

Autorzy: D. Garzón Ramos
Opublikowane w: Master's Thesis, Universidad Nacional de Colombia, 2022
Wydawca: The Demiurge Project

Robot recognition using a 360-degree vision module for swarm robots: A new view on swarm robotics.

Autorzy: F. Trouillez
Opublikowane w: Master’s Thesis, Université libre de Bruxelles, 2022
Wydawca: The Demiurge Project

Building an integrated framework for the automatic modular design of robot swarms.

Autorzy: A. Hasan
Opublikowane w: Master’s Thesis, Université libre de Bruxelles, 2022
Wydawca: The Demiurge Project

Automatic design of collective behaviors for robots that operate in dynamic environments.

Autorzy: P. Rochala
Opublikowane w: Master’s Thesis, Université libre de Bruxelles, 2021
Wydawca: The Demiurge Project

Developing ROS-based software for the e-puck: An experiment in exploration and mapping.

Autorzy: M. Kegeleirs
Opublikowane w: Master’s Thesis, Université libre de Bruxelles, 2018
Wydawca: The Demiurge Project

The influence of random walks on automatic design of robot swarms An experiment with AutoMoDe.

Autorzy: G. Spaey
Opublikowane w: Master’s Thesis, Université libre de Bruxelles, 2019
Wydawca: The Demiurge Project

A modular approach to the automatic design of control software for robot swarms: From a novel perspective on the reality gap to AutoMoDe

Autorzy: Gianpiero Francesca
Opublikowane w: Doctoral dissertation, Université libre de Bruxelles, 2017
Wydawca: Université libre de Bruxelles

Cognitive abilities in swarm robotics. Developing a swarm that can collectively sequence tasks.

Autorzy: Lorenzo Garattoni
Opublikowane w: Doctoral dissertation, Université libre de Bruxelles, 2021
Wydawca: Université libre de Bruxelles

AutoMoDe-Cedrata: Automatic Design of Behavior Trees for Controlling a Swarm of Robots with Communication Capabilities

Autorzy: Mauro Birattari; Vincent Van Pelt; Jonas Kuckling
Opublikowane w: SN Computer Science, Numer 26618907, 2022, Strona(/y) 316, ISSN 2661-8907
Wydawca: Springer
DOI: 10.1007/s42979-021-00988-9

Towards an Empirical Practice in Off-line Fully-automatic Design of Robot Swarms

Autorzy: Antoine Ligot, Andres Cotorruelo, Emanuele Garone, Mauro Birattari
Opublikowane w: IEEE Transactions on Evolutionary Computation, Numer 19410026, 2022, ISSN 1941-0026
Wydawca: IEEE
DOI: 10.1109/tevc.2022.3144848

Automatic Design of Collective Behaviors for Robots that Can Display and Perceive Colors

Autorzy: David Garzón Ramos, Mauro Birattari
Opublikowane w: Applied Sciences, Numer 10/13, 2020, Strona(/y) 4654, ISSN 2076-3417
Wydawca: MDPI
DOI: 10.3390/app10134654

On Using Simulation to Predict the Performance of Robot Swarms

Autorzy: Antoine Ligot, Mauro Birattari
Opublikowane w: Scientific Data, Numer 9, 2022, ISSN 2052-4463
Wydawca: Springer Nature
DOI: 10.1038/s41597-022-01895-1

Evaluating the impact of grammar complexity in automatic algorithm design

Autorzy: Federico Pagnozzi, Thomas Stützle
Opublikowane w: International Transactions in Operational Research, 2020, ISSN 0969-6016
Wydawca: Blackwell Publishing
DOI: 10.1111/itor.12902

Disentangling automatic and semi-automatic approaches to the optimization-based design of control software for robot swarms

Autorzy: Mauro Birattari, Antoine Ligot, Ken Hasselmann
Opublikowane w: Nature Machine Intelligence, Numer 2/9, 2020, Strona(/y) 494-499, ISSN 2522-5839
Wydawca: Springer Nature
DOI: 10.1038/s42256-020-0215-0

Swarm SLAM: Challenges and Perspectives

Autorzy: Miquel Kegeleirs, Giorgio Grisetti, Mauro Birattari
Opublikowane w: Frontiers in Robotics and AI, Numer 8, 2021, ISSN 2296-9144
Wydawca: Frontiers in Robotics and AI
DOI: 10.3389/frobt.2021.618268

Towards an integrated automatic design process for robot swarms

Autorzy: Bozhinoski, Darko; Birattari, Mauro
Opublikowane w: Open Research Europe, Numer 27325121, 2022, Strona(/y) 112, ISSN 2732-5121
Wydawca: European Commission
DOI: 10.12688/openreseurope.14025.1

Off-Policy Evaluation of the Performance of a Robot Swarm: Importance Sampling to Assess Potential Modifications to the Finite-State Machine That Controls the Robots

Autorzy: Federico Pagnozzi, Mauro Birattari
Opublikowane w: Frontiers in Robotics and AI, Numer 8, 2021, ISSN 2296-9144
Wydawca: Frontiers in Robotics and AI
DOI: 10.3389/frobt.2021.625125

Complexity Measures: Open Questions and Novel Opportunities in the Automatic Design and Analysis of Robot Swarms

Autorzy: Andrea Roli, Antoine Ligot, Mauro Birattari
Opublikowane w: Frontiers in Robotics and AI, Numer 6, 2019, ISSN 2296-9144
Wydawca: Frontiers in Robotics and AI
DOI: 10.3389/frobt.2019.00130

Automatic modular design of robot swarms using behavior trees as a control architecture

Autorzy: Antoine Ligot, Jonas Kuckling, Darko Bozhinoski, Mauro Birattari
Opublikowane w: PeerJ Computer Science, Numer 6, 2020, Strona(/y) e314, ISSN 2376-5992
Wydawca: PeerJ
DOI: 10.7717/peerj-cs.314

Empirical assessment and comparison of neuro-evolutionary methods for the automatic off-line design of robot swarms

Autorzy: Ken Hasselmann, Antoine Ligot, Julian Ruddick, Mauro Birattari
Opublikowane w: Nature Communications, Numer 12, 2021, Strona(/y) 4345, ISSN 2041-1723
Wydawca: Nature Publishing Group
DOI: 10.1038/s41467-021-24642-3

Phormica: Photochromic Pheromone Release and Detection System for Stigmergic Coordination in Robot Swarms

Autorzy: Muhammad Salman, David Garzón Ramos, Ken Hasselmann, Mauro Birattari
Opublikowane w: Frontiers in Robotics and AI, Numer 7, 2020, ISSN 2296-9144
Wydawca: Frontiers in Robotics and AI
DOI: 10.3389/frobt.2020.591402

Modular automatic design of collective behaviors for robots endowed with local communication capabilities

Autorzy: Ken Hasselmann, Mauro Birattari
Opublikowane w: PeerJ Computer Science, Numer 6, 2020, Strona(/y) e291, ISSN 2376-5992
Wydawca: PeerJ
DOI: 10.7717/peerj-cs.291

Autonomous task sequencing in a robot swarm

Autorzy: Lorenzo Garattoni, Mauro Birattari
Opublikowane w: Science Robotics, Numer 3/20, 2018, Strona(/y) eaat0430, ISSN 2470-9476
Wydawca: Science Robotics
DOI: 10.1126/scirobotics.aat0430

An open-source multi-robot construction system

Autorzy: Michael Allwright, Weixu Zhu, Marco Dorigo
Opublikowane w: HardwareX, Numer 5, 2019, Strona(/y) e00050, ISSN 2468-0672
Wydawca: Elsevier
DOI: 10.1016/j.ohx.2018.e00050

Safety for mobile robotic systems: A systematic mapping study from a software engineering perspective

Autorzy: Darko Bozhinoski, Davide Di Ruscio, Ivano Malavolta, Patrizio Pelliccione, Ivica Crnkovic
Opublikowane w: Journal of Systems and Software, Numer 151, 2019, Strona(/y) 150-179, ISSN 0164-1212
Wydawca: Elsevier BV
DOI: 10.1016/j.jss.2019.02.021

Managing safety and mission completion via collective run-time adaptation

Autorzy: Darko Bozhinoski, David Garlan, Ivano Malavolta, Patrizio Pelliccione
Opublikowane w: Journal of Systems Architecture, Numer 95, 2019, Strona(/y) 19-35, ISSN 1383-7621
Wydawca: Elsevier BV
DOI: 10.1016/j.sysarc.2019.02.018

Automatic Off-Line Design of Robot Swarms: A Manifesto

Autorzy: Mauro Birattari, Antoine Ligot, Darko Bozhinoski, Manuele Brambilla, Gianpiero Francesca, Lorenzo Garattoni, David Garzón Ramos, Ken Hasselmann, Miquel Kegeleirs, Jonas Kuckling, Federico Pagnozzi, Andrea Roli, Muhammad Salman, Thomas Stützle
Opublikowane w: Frontiers in Robotics and AI, Numer 6, 2019, ISSN 2296-9144
Wydawca: Frontiers in robotics and AI
DOI: 10.3389/frobt.2019.00059

Concurrent design of control software and configuration of hardware for robot swarms under economic constraints

Autorzy: Muhammad Salman, Antoine Ligot, Mauro Birattari
Opublikowane w: PeerJ Computer Science, Numer 5, 2019, Strona(/y) e221, ISSN 2376-5992
Wydawca: PeerJ
DOI: 10.7717/peerj-cs.221

Simulation-only experiments to mimic the effects of the reality gap in the automatic design of robot swarms

Autorzy: Antoine Ligot, Mauro Birattari
Opublikowane w: Swarm Intelligence, 2019, ISSN 1935-3812
Wydawca: Springer Pub. Co.
DOI: 10.1007/s11721-019-00175-w

Iterative improvement in the automatic modular design of robot swarms

Autorzy: Jonas Kuckling, Thomas Stützle, Mauro Birattari
Opublikowane w: PeerJ Computer Science, Numer 6, 2020, Strona(/y) e322, ISSN 2376-5992
Wydawca: PeerJ
DOI: 10.7717/peerj-cs.322

AutoMoDe-Mate: Automatic off-line design of spatially-organizing behaviors for robot swarms

Autorzy: Fernando J. Mendiburu, David Garzón Ramos, Marcos R. A. Morais, Antonio M. N. Lima, Mauro Birattari
Opublikowane w: Swarm and Evolutionary Computation, Numer 22106502, 2022, ISSN 2210-6502
Wydawca: Elsevier BV
DOI: 10.1016/j.swevo.2022.101118

AutoMoDe: A Modular Approach to the Automatic Off-Line Design and Fine-Tuning of Control Software for Robot Swarms

Autorzy: Mauro Birattari, Antoine Ligot, Gianpiero Francesca
Opublikowane w: Automated Design of Machine Learning and Search Algorithms, 2021
Wydawca: Springer
DOI: 10.1007/978-3-030-72069-8_5

Evaluation of Alternative Exploration Schemes in the Automatic Modular Design of Robot Swarms

Autorzy: Gaëtan Spaey, Miquel Kegeleirs, David Garzón Ramos, Mauro Birattari
Opublikowane w: BNAIC 2019, BENELEARN 2019: Artificial Intelligence and Machine Learning, 2020, Strona(/y) 18-33
Wydawca: Springer
DOI: 10.1007/978-3-030-65154-1_2

AutoMoDe-IcePop: Automatic Modular Design of Control Software for Robot Swarms Using Simulated Annealing

Autorzy: Jonas Kuckling, Keneth Ubeda Arriaza, Mauro Birattari
Opublikowane w: BNAIC 2019, BENELEARN 2019: Artificial Intelligence and Machine Learning, 2020, Strona(/y) 3–17
Wydawca: Springer
DOI: 10.1007/978-3-030-65154-1_1

Complexity Measures in Automatic Design of Robot Swarms: An Exploratory Study

Autorzy: Andrea Roli, Antoine Ligot, Mauro Birattari
Opublikowane w: Artificial Life and Evolutionary Computation, 2018, Strona(/y) 243-256, ISBN 978-3-319-78657-5
Wydawca: Springer International Publishing
DOI: 10.1007/978-3-319-78658-2_18

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