{"id":"https://openalex.org/W2016975264","doi":"https://doi.org/10.1017/s0263574713000490","title":"Leader\u2013follower-based dynamic trajectory planning for multirobot formation","display_name":"Leader\u2013follower-based dynamic trajectory planning for multirobot formation","publication_year":2013,"publication_date":"2013-06-12","ids":{"openalex":"https://openalex.org/W2016975264","doi":"https://doi.org/10.1017/s0263574713000490","mag":"2016975264"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574713000490","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574713000490","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5100319106","display_name":"Shuang Liu","orcid":"https://orcid.org/0000-0002-8535-0573"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Shuang Liu","raw_affiliation_strings":["Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong. E-mail:","Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong. E-mail: medsun@cityu.edu.hk"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong. E-mail:","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong. E-mail: medsun@cityu.edu.hk","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100382905","display_name":"Dong Sun","orcid":"https://orcid.org/0000-0003-3945-4037"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Dong Sun","raw_affiliation_strings":["Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong. E-mail:","Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong. E-mail: medsun@cityu.edu.hk"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong. E-mail:","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong. E-mail: medsun@cityu.edu.hk","institution_ids":["https://openalex.org/I168719708"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100319106"],"corresponding_institution_ids":["https://openalex.org/I168719708"],"apc_list":null,"apc_paid":null,"fwci":0.3625,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.64328996,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"31","issue":"8","first_page":"1351","last_page":"1359"},"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":0.9998000264167786,"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":0.9986000061035156,"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/trajectory","display_name":"Trajectory","score":0.9129805564880371},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5890668630599976},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5532325506210327},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5339407324790955},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5177030563354492},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5043271780014038},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5022695064544678},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.49953341484069824},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3753766119480133},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.33376824855804443},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25861459970474243},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23805198073387146},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17596065998077393},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05412888526916504}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.9129805564880371},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5890668630599976},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5532325506210327},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5339407324790955},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5177030563354492},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5043271780014038},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5022695064544678},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.49953341484069824},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3753766119480133},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.33376824855804443},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25861459970474243},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23805198073387146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17596065998077393},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05412888526916504},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574713000490","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574713000490","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4000000059604645,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1517023801","https://openalex.org/W1991482882","https://openalex.org/W2005389191","https://openalex.org/W2007193228","https://openalex.org/W2022892827","https://openalex.org/W2029361563","https://openalex.org/W2040298974","https://openalex.org/W2050997834","https://openalex.org/W2070224057","https://openalex.org/W2075799113","https://openalex.org/W2078536073","https://openalex.org/W2100585221","https://openalex.org/W2101041094","https://openalex.org/W2105738972","https://openalex.org/W2113526778","https://openalex.org/W2115775310","https://openalex.org/W2118108721","https://openalex.org/W2121030454","https://openalex.org/W2122261911","https://openalex.org/W2125535099","https://openalex.org/W2128525534","https://openalex.org/W2129487552","https://openalex.org/W2132242891","https://openalex.org/W2142394576","https://openalex.org/W2144412323","https://openalex.org/W2150984640","https://openalex.org/W2157411165","https://openalex.org/W2158883244","https://openalex.org/W2158970477","https://openalex.org/W2162481101","https://openalex.org/W2162881204","https://openalex.org/W2165413656","https://openalex.org/W2166462345","https://openalex.org/W2169240708","https://openalex.org/W2169742265","https://openalex.org/W2170798107","https://openalex.org/W3148444946","https://openalex.org/W4206386758"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3042530408","https://openalex.org/W4381746183","https://openalex.org/W4385832323","https://openalex.org/W2356996864","https://openalex.org/W4244391535","https://openalex.org/W2904060783","https://openalex.org/W2015393961"],"abstract_inverted_index":{"SUMMARY":[0],"The":[1,29],"present":[2],"paper":[3,35],"presents":[4],"a":[5,9,26,40,87],"new":[6,41],"approach":[7,81],"to":[8,74,82],"leader\u2013follower-based":[10],"dynamic":[11,88],"trajectory":[12,19,54,61,65],"planning":[13],"for":[14,22,52],"multirobot":[15,84],"formation.":[16],"A":[17],"near-optimal":[18],"is":[20],"generated":[21],"each":[23],"robot":[24],"in":[25,63,86],"decentralized":[27],"manner.":[28],"main":[30],"contributions":[31],"of":[32,39,60,78],"the":[33,37,53,64,76,79,83],"current":[34],"are":[36,72],"proposal":[38],"objective":[42],"function":[43],"that":[44],"considers":[45],"both":[46],"collision":[47],"avoidance":[48],"and":[49,56,68],"formation":[50,85],"requirement":[51],"generation,":[55],"an":[57],"analytical":[58],"solution":[59],"parameters":[62],"optimization.":[66],"Simulations":[67],"experiments":[69],"on":[70],"multirobots":[71],"performed":[73],"demonstrate":[75],"effectiveness":[77],"proposed":[80],"environment.":[89]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
