{"id":"https://openalex.org/W4405911556","doi":"https://doi.org/10.1002/rob.22502","title":"Distributed Cooperative Collision\u2010Free Tracking Control for 30 Quadrotors Under Internal and External Threats","display_name":"Distributed Cooperative Collision\u2010Free Tracking Control for 30 Quadrotors Under Internal and External Threats","publication_year":2024,"publication_date":"2024-12-30","ids":{"openalex":"https://openalex.org/W4405911556","doi":"https://doi.org/10.1002/rob.22502"},"language":"en","primary_location":{"id":"doi:10.1002/rob.22502","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.22502","pdf_url":null,"source":{"id":"https://openalex.org/S151299380","display_name":"Journal of Field Robotics","issn_l":"1556-4959","issn":["1556-4959","1556-4967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Field Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114137740","display_name":"Guang Yang","orcid":"https://orcid.org/0009-0005-9181-7001"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guang Yang","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering Tianjin University Tianjin China","Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering Tianjin University Tianjin China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100347508","display_name":"Juntong Qi","orcid":"https://orcid.org/0000-0002-5209-3099"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Juntong Qi","raw_affiliation_strings":["Institute of Artificial Intelligence Shanghai University Shanghai China","Institute of Artificial Intelligence, Shanghai University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence Shanghai University Shanghai China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I113940042"]},{"raw_affiliation_string":"Institute of Artificial Intelligence, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049539752","display_name":"Mingming Wang","orcid":"https://orcid.org/0000-0002-8969-7291"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mingming Wang","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering Tianjin University Tianjin China","Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering Tianjin University Tianjin China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090271979","display_name":"Chong Wu","orcid":"https://orcid.org/0000-0001-7022-9247"},"institutions":[{"id":"https://openalex.org/I4210145393","display_name":"Hainan Agricultural School","ror":"https://ror.org/04p8ncq94","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210145393"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chong Wu","raw_affiliation_strings":["EFY (Hainan) Technology Co., Ltd Hainan China","EFY (Hainan) Technology Co., Ltd, Hainan, China"],"affiliations":[{"raw_affiliation_string":"EFY (Hainan) Technology Co., Ltd Hainan China","institution_ids":["https://openalex.org/I4210145393"]},{"raw_affiliation_string":"EFY (Hainan) Technology Co., Ltd, Hainan, China","institution_ids":["https://openalex.org/I4210145393"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071207344","display_name":"Jinjin Guo","orcid":"https://orcid.org/0000-0002-6300-1161"},"institutions":[{"id":"https://openalex.org/I2800372957","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83","country_code":"CN","type":"company","lineage":["https://openalex.org/I2800372957"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinjin Guo","raw_affiliation_strings":["The 28th Research Institute of China Electronic Technology Group Corporation Nanjing China","The 28th Research Institute of China Electronic Technology Group Corporation, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"The 28th Research Institute of China Electronic Technology Group Corporation Nanjing China","institution_ids":["https://openalex.org/I2800372957"]},{"raw_affiliation_string":"The 28th Research Institute of China Electronic Technology Group Corporation, Nanjing, China","institution_ids":["https://openalex.org/I2800372957"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064597302","display_name":"Yuan Ping","orcid":"https://orcid.org/0000-0002-0441-031X"},"institutions":[{"id":"https://openalex.org/I4210145393","display_name":"Hainan Agricultural School","ror":"https://ror.org/04p8ncq94","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210145393"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Ping","raw_affiliation_strings":["EFY (Hainan) Technology Co., Ltd Hainan China","EFY (Hainan) Technology Co., Ltd, Hainan, China"],"affiliations":[{"raw_affiliation_string":"EFY (Hainan) Technology Co., Ltd Hainan China","institution_ids":["https://openalex.org/I4210145393"]},{"raw_affiliation_string":"EFY (Hainan) Technology Co., Ltd, Hainan, China","institution_ids":["https://openalex.org/I4210145393"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100772740","display_name":"Yan Peng","orcid":"https://orcid.org/0000-0003-1312-9527"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Peng","raw_affiliation_strings":["Institute of Artificial Intelligence Shanghai University Shanghai China","Institute of Artificial Intelligence, Shanghai University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence Shanghai University Shanghai China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I113940042"]},{"raw_affiliation_string":"Institute of Artificial Intelligence, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5049539752"],"corresponding_institution_ids":["https://openalex.org/I162868743"],"apc_list":{"value":4430,"currency":"USD","value_usd":4430},"apc_paid":null,"fwci":0.3564,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.65617815,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"42","issue":"3","first_page":"827","last_page":"849"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6974450945854187},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6637392044067383},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5809947848320007},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5400863289833069},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5392144918441772},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47827208042144775},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.3054221272468567},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11615860462188721},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.0708254873752594}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6974450945854187},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6637392044067383},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5809947848320007},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5400863289833069},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5392144918441772},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47827208042144775},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.3054221272468567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11615860462188721},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0708254873752594},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.22502","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.22502","pdf_url":null,"source":{"id":"https://openalex.org/S151299380","display_name":"Journal of Field Robotics","issn_l":"1556-4959","issn":["1556-4959","1556-4967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Field Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1512648776","https://openalex.org/W1530919911","https://openalex.org/W2029259235","https://openalex.org/W2042733674","https://openalex.org/W2080540421","https://openalex.org/W2267917689","https://openalex.org/W2499597001","https://openalex.org/W2766373678","https://openalex.org/W2802881680","https://openalex.org/W2903506349","https://openalex.org/W3000498189","https://openalex.org/W3109011525","https://openalex.org/W3112468084","https://openalex.org/W3135746043","https://openalex.org/W3153657716","https://openalex.org/W3164056737","https://openalex.org/W3181065011","https://openalex.org/W3201530632","https://openalex.org/W3204345415","https://openalex.org/W4206756728","https://openalex.org/W4225269977","https://openalex.org/W4229007520","https://openalex.org/W4285239991","https://openalex.org/W4294591027","https://openalex.org/W4312204815","https://openalex.org/W4313377631","https://openalex.org/W4317553701","https://openalex.org/W4319460065","https://openalex.org/W4320479351","https://openalex.org/W4324318057","https://openalex.org/W4361220146","https://openalex.org/W4366817630","https://openalex.org/W4382050703","https://openalex.org/W4383218725","https://openalex.org/W4386016673","https://openalex.org/W4386319127","https://openalex.org/W4387539588","https://openalex.org/W4388666595","https://openalex.org/W4390492496"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2743212448","https://openalex.org/W2889566344","https://openalex.org/W3113932901","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311"],"abstract_inverted_index":{"ABSTRACT":[0],"The":[1,134,146],"high":[2],"efficiency":[3],"of":[4,38,54,164,207,211],"multiple":[5,79,119,220],"quadrotors":[6,80,140,150],"coordination":[7],"makes":[8],"it":[9],"widely":[10],"used.":[11],"However,":[12],"the":[13,52,59,72,108,115,118,139,143,155,167,184,203,208],"technology":[14],"faces":[15],"threats":[16],"from":[17,158],"internal":[18,55],"collisions":[19],"as":[20,22],"well":[21],"external":[23,57],"obstacles.":[24],"This":[25],"paper":[26],"proposes":[27],"a":[28,90,101],"multiquadrotors":[29],"distributed":[30,91,212],"cooperative":[31,213],"collision\u2010free":[32],"tracking":[33,48,187,217],"control":[34,92,218],"framework,":[35],"which":[36,165,201],"consists":[37],"three":[39],"parts:":[40],"collision":[41,60,124,214],"avoidance":[42,45,61,82,215],"mechanism,":[43],"obstacle":[44,81,87,126],"mechanism":[46],"and":[47,56,104,122,128,154,175,192,198,205,216],"control.":[49],"First,":[50],"in":[51,178],"face":[53],"threats,":[58],"function":[62,75],"with":[63,107,131,173],"damping":[64],"is":[65,76,94,111,151,160],"designed":[66,77],"based":[67,83,96],"on":[68,84,97,117],"Hooke's":[69],"law.":[70],"And":[71],"potential":[73],"energy":[74],"for":[78,219],"bird":[85],"flock":[86],"avoidance.":[88],"Then,":[89],"protocol":[93],"proposed":[95,181,209],"consensus":[98],"theory.":[99],"Finally,":[100],"multi\u2010quadrotors":[102],"simulation":[103],"experiment":[105],"platform":[106,121],"same":[109],"architecture":[110],"built.":[112],"We":[113],"deploy":[114],"framework":[116,210],"quadrotor":[120],"conduct":[123],"avoidance,":[125,127],"encirclement":[129],"experiments":[130],"30":[132],"quadrotors.":[133,221],"experimental":[135],"results":[136],"show":[137],"that":[138],"can":[141],"perform":[142],"task":[144,194],"well.":[145],"minimum":[147,156],"distance":[148,157,169],"between":[149],"0.8022":[152],"m,":[153,162,191],"obstacles":[159],"0.8866":[161],"all":[163],"meet":[166],"safety":[168],"requirements.":[170],"Moreover,":[171],"compared":[172],"classical":[174],"advanced":[176],"methods":[177],"simulation,":[179],"our":[180],"method":[182],"has":[183],"smallest":[185],"average":[186],"error,":[188],"only":[189],"0.3019":[190],"improves":[193],"time":[195],"by":[196],"7.03%":[197],"6.23%,":[199],"respectively,":[200],"verifies":[202],"effectiveness":[204],"practicality":[206]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}