{"id":"https://openalex.org/W2940675882","doi":"https://doi.org/10.1007/s10846-019-01025-x","title":"Decentralized MPC for UAVs Formation Deployment and Reconfiguration with Multiple Outgoing Agents","display_name":"Decentralized MPC for UAVs Formation Deployment and Reconfiguration with Multiple Outgoing Agents","publication_year":2019,"publication_date":"2019-04-26","ids":{"openalex":"https://openalex.org/W2940675882","doi":"https://doi.org/10.1007/s10846-019-01025-x","mag":"2940675882"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-019-01025-x","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-019-01025-x","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-02100517","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050080310","display_name":"Thomas Chevet","orcid":"https://orcid.org/0000-0001-8599-7038"},"institutions":[{"id":"https://openalex.org/I102197404","display_name":"Universit\u00e9 Paris-Sud","ror":"https://ror.org/028rypz17","country_code":"FR","type":"education","lineage":["https://openalex.org/I102197404"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I4210097418","display_name":"Laboratoire des signaux et syst\u00e8mes","ror":"https://ror.org/00skw9v43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Thomas Chevet","raw_affiliation_strings":["Laboratoire des Signaux et Syst\u00e8mes (L2S), CentraleSup\u00e9lec-CNRS-Universit\u00e9 Paris-Sud, Universit\u00e9 Paris-Saclay, 3 rue Joliot Curie, 91192, Gif-sur-Yvette, France","Laboratoire des signaux et syst\u00e8mes"],"raw_orcid":"https://orcid.org/0000-0001-8599-7038","affiliations":[{"raw_affiliation_string":"Laboratoire des Signaux et Syst\u00e8mes (L2S), CentraleSup\u00e9lec-CNRS-Universit\u00e9 Paris-Sud, Universit\u00e9 Paris-Saclay, 3 rue Joliot Curie, 91192, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I4210107720","https://openalex.org/I277688954","https://openalex.org/I102197404","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Laboratoire des signaux et syst\u00e8mes","institution_ids":["https://openalex.org/I4210097418"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010044766","display_name":"Cristina Vlad","orcid":"https://orcid.org/0000-0003-0250-5785"},"institutions":[{"id":"https://openalex.org/I102197404","display_name":"Universit\u00e9 Paris-Sud","ror":"https://ror.org/028rypz17","country_code":"FR","type":"education","lineage":["https://openalex.org/I102197404"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I4210097418","display_name":"Laboratoire des signaux et syst\u00e8mes","ror":"https://ror.org/00skw9v43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Cristina Vlad","raw_affiliation_strings":["Laboratoire des Signaux et Syst\u00e8mes (L2S), CentraleSup\u00e9lec-CNRS-Universit\u00e9 Paris-Sud, Universit\u00e9 Paris-Saclay, 3 rue Joliot Curie, 91192, Gif-sur-Yvette, France","Laboratoire des signaux et syst\u00e8mes"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire des Signaux et Syst\u00e8mes (L2S), CentraleSup\u00e9lec-CNRS-Universit\u00e9 Paris-Sud, Universit\u00e9 Paris-Saclay, 3 rue Joliot Curie, 91192, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I4210107720","https://openalex.org/I277688954","https://openalex.org/I102197404","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Laboratoire des signaux et syst\u00e8mes","institution_ids":["https://openalex.org/I4210097418"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059234416","display_name":"Cristina Stoica","orcid":"https://orcid.org/0000-0002-5838-599X"},"institutions":[{"id":"https://openalex.org/I102197404","display_name":"Universit\u00e9 Paris-Sud","ror":"https://ror.org/028rypz17","country_code":"FR","type":"education","lineage":["https://openalex.org/I102197404"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I4210097418","display_name":"Laboratoire des signaux et syst\u00e8mes","ror":"https://ror.org/00skw9v43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Cristina Stoica Maniu","raw_affiliation_strings":["Laboratoire des Signaux et Syst\u00e8mes (L2S), CentraleSup\u00e9lec-CNRS-Universit\u00e9 Paris-Sud, Universit\u00e9 Paris-Saclay, 3 rue Joliot Curie, 91192, Gif-sur-Yvette, France","Laboratoire des signaux et syst\u00e8mes"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire des Signaux et Syst\u00e8mes (L2S), CentraleSup\u00e9lec-CNRS-Universit\u00e9 Paris-Sud, Universit\u00e9 Paris-Saclay, 3 rue Joliot Curie, 91192, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I4210107720","https://openalex.org/I277688954","https://openalex.org/I102197404","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Laboratoire des signaux et syst\u00e8mes","institution_ids":["https://openalex.org/I4210097418"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100416422","display_name":"Youmin Zhang","orcid":"https://orcid.org/0000-0002-9731-5943"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Youmin Zhang","raw_affiliation_strings":["Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, 1455 Blvd. de Maisonneuve, Montr\u00e9al, QC, H3G 1M8, Canada","Dept. of Mechanical & Industrial Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, 1455 Blvd. de Maisonneuve, Montr\u00e9al, QC, H3G 1M8, Canada","institution_ids":["https://openalex.org/I60158472"]},{"raw_affiliation_string":"Dept. of Mechanical & Industrial Engineering","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5050080310"],"corresponding_institution_ids":["https://openalex.org/I102197404","https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":1.9548,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.87293305,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"97","issue":"1","first_page":"155","last_page":"170"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9922999739646912,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6870018243789673},{"id":"https://openalex.org/keywords/partition","display_name":"Partition (number theory)","score":0.5877679586410522},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5720701217651367},{"id":"https://openalex.org/keywords/voronoi-diagram","display_name":"Voronoi diagram","score":0.5511937141418457},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.5356724858283997},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5190485119819641},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.5096666812896729},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.49932074546813965},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4882686138153076},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4102398157119751},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3725689649581909},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36275866627693176},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3241695761680603},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2543070912361145},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.20871523022651672},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1874639391899109},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12742817401885986},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09083858132362366},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.09060963988304138},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.08029744029045105}],"concepts":[{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6870018243789673},{"id":"https://openalex.org/C42812","wikidata":"https://www.wikidata.org/wiki/Q1082910","display_name":"Partition (number theory)","level":2,"score":0.5877679586410522},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5720701217651367},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.5511937141418457},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.5356724858283997},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5190485119819641},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5096666812896729},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.49932074546813965},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4882686138153076},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4102398157119751},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3725689649581909},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36275866627693176},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3241695761680603},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2543070912361145},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.20871523022651672},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1874639391899109},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12742817401885986},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09083858132362366},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.09060963988304138},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.08029744029045105},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10846-019-01025-x","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-019-01025-x","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-02100517v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02100517","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Intelligent and Robotic Systems, 2020, 97, pp.155-170. &#x27E8;10.1007/s10846-019-01025-x&#x27E9;","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02100517v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02100517","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Intelligent and Robotic Systems, 2020, 97, pp.155-170. &#x27E8;10.1007/s10846-019-01025-x&#x27E9;","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W605769222","https://openalex.org/W1520127302","https://openalex.org/W1524886571","https://openalex.org/W1880805667","https://openalex.org/W1963547452","https://openalex.org/W1982096061","https://openalex.org/W1993170675","https://openalex.org/W1995476316","https://openalex.org/W2010904712","https://openalex.org/W2011097576","https://openalex.org/W2019400639","https://openalex.org/W2023138554","https://openalex.org/W2025421018","https://openalex.org/W2026802313","https://openalex.org/W2031850322","https://openalex.org/W2065569846","https://openalex.org/W2067965875","https://openalex.org/W2080868110","https://openalex.org/W2096282629","https://openalex.org/W2097989534","https://openalex.org/W2117402460","https://openalex.org/W2118419116","https://openalex.org/W2119300641","https://openalex.org/W2139494503","https://openalex.org/W2151951367","https://openalex.org/W2152128004","https://openalex.org/W2167485994","https://openalex.org/W2174070521","https://openalex.org/W2296319761","https://openalex.org/W2515745990","https://openalex.org/W2528010858","https://openalex.org/W2587878334","https://openalex.org/W2603846702","https://openalex.org/W2736674965","https://openalex.org/W2783388192","https://openalex.org/W2799454643","https://openalex.org/W2903135830","https://openalex.org/W2907275873","https://openalex.org/W4210733153","https://openalex.org/W4250589301"],"related_works":["https://openalex.org/W3020555194","https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2793256277","https://openalex.org/W2348235448","https://openalex.org/W4360958759","https://openalex.org/W2369529107","https://openalex.org/W2116218375","https://openalex.org/W2389906634"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-19T15:47:20.252518","created_date":"2025-10-10T00:00:00"}
