{"id":"https://openalex.org/W7135214331","doi":"https://doi.org/10.1016/j.automatica.2026.112905","title":"Merging and splitting triangularly angle rigid formations","display_name":"Merging and splitting triangularly angle rigid formations","publication_year":2026,"publication_date":"2026-03-13","ids":{"openalex":"https://openalex.org/W7135214331","doi":"https://doi.org/10.1016/j.automatica.2026.112905"},"language":"en","primary_location":{"id":"doi:10.1016/j.automatica.2026.112905","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.automatica.2026.112905","pdf_url":null,"source":{"id":"https://openalex.org/S51360982","display_name":"Automatica","issn_l":"0005-1098","issn":["0005-1098","1873-2836"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Automatica","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/A5129026360","display_name":"Zhengyang Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengyang Liu","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, People\u2019s Republic of China","Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology, School of Automation and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen 518055, People\u2019s Republic of China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, People\u2019s Republic of China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology, School of Automation and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen 518055, People\u2019s Republic of China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101759314","display_name":"Chuanjiang Li","orcid":"https://orcid.org/0000-0002-9595-6341"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuanjiang Li","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, People\u2019s Republic of China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, People\u2019s Republic of China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128926531","display_name":"Liangming Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Liangming Chen","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology, School of Automation and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen 518055, People\u2019s Republic of China"],"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology, School of Automation and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen 518055, People\u2019s Republic of China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128935595","display_name":"Jianqing Li","orcid":null},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianqing Li","raw_affiliation_strings":["College of Communication Engineering, Hangzhou Dianzi University, Hangzhou 310018, People\u2019s Republic of China"],"affiliations":[{"raw_affiliation_string":"College of Communication Engineering, Hangzhou Dianzi University, Hangzhou 310018, People\u2019s Republic of China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5129046130","display_name":"Derong Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]},{"id":"https://openalex.org/I39774598","display_name":"Hefei University","ror":"https://ror.org/01f5rdf64","country_code":"CN","type":"education","lineage":["https://openalex.org/I39774598"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Derong Liu","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology, School of Automation and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen 518055, People\u2019s Republic of China","School of Artificial Intelligence, Anhui University, Hefei 230601, People\u2019s Republic of China"],"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology, School of Automation and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen 518055, People\u2019s Republic of China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"School of Artificial Intelligence, Anhui University, Hefei 230601, People\u2019s Republic of China","institution_ids":["https://openalex.org/I143868143","https://openalex.org/I39774598"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5128926531"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":{"value":3500,"currency":"USD","value_usd":3500},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.93201489,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":"188","issue":null,"first_page":"112905","last_page":"112905"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.05889999866485596,"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"}},"topics":[{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.05889999866485596,"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"}},{"id":"https://openalex.org/T11870","display_name":"Structural Analysis and Optimization","score":0.04989999905228615,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.030899999663233757,"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/stability","display_name":"Stability (learning theory)","score":0.2612000107765198},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.24050000309944153},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.23839999735355377}],"concepts":[{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.40700000524520874},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.4068000018596649},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.32850000262260437},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.2727000117301941},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.2612000107765198},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2529999911785126},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2460000067949295},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.24050000309944153},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.23839999735355377},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22419999539852142}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.automatica.2026.112905","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.automatica.2026.112905","pdf_url":null,"source":{"id":"https://openalex.org/S51360982","display_name":"Automatica","issn_l":"0005-1098","issn":["0005-1098","1873-2836"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Automatica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4651229679584503,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1495971413","https://openalex.org/W1635192251","https://openalex.org/W1913991546","https://openalex.org/W1966043544","https://openalex.org/W1979426194","https://openalex.org/W1981826826","https://openalex.org/W1990389251","https://openalex.org/W1992643681","https://openalex.org/W2029107555","https://openalex.org/W2038804617","https://openalex.org/W2038926068","https://openalex.org/W2111771323","https://openalex.org/W2130532917","https://openalex.org/W2145266227","https://openalex.org/W2299998859","https://openalex.org/W2343422466","https://openalex.org/W2343580824","https://openalex.org/W2508249089","https://openalex.org/W2594873560","https://openalex.org/W2595363940","https://openalex.org/W2604559438","https://openalex.org/W2787958879","https://openalex.org/W2793010390","https://openalex.org/W2805031923","https://openalex.org/W2809493663","https://openalex.org/W2962992878","https://openalex.org/W2963104770","https://openalex.org/W2963196424","https://openalex.org/W2963298412","https://openalex.org/W2963562223","https://openalex.org/W2969092468","https://openalex.org/W2996392593","https://openalex.org/W3087869918","https://openalex.org/W3209782100","https://openalex.org/W4212957942","https://openalex.org/W4281753482","https://openalex.org/W4289654359","https://openalex.org/W4319068698"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-03-15T07:15:06.534987","created_date":"2026-03-14T00:00:00"}