{"id":"https://openalex.org/W2123291961","doi":"https://doi.org/10.1017/s0263574714001696","title":"Multi-Robot nonlinear model predictive formation control: the obstacle avoidance problem","display_name":"Multi-Robot nonlinear model predictive formation control: the obstacle avoidance problem","publication_year":2014,"publication_date":"2014-07-01","ids":{"openalex":"https://openalex.org/W2123291961","doi":"https://doi.org/10.1017/s0263574714001696","mag":"2123291961"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574714001696","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714001696","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/A5064505240","display_name":"Tiago Nascimento","orcid":"https://orcid.org/0000-0002-9319-2114"},"institutions":[{"id":"https://openalex.org/I169045520","display_name":"Universidade Federal da Para\u00edba","ror":"https://ror.org/00p9vpz11","country_code":"BR","type":"education","lineage":["https://openalex.org/I169045520"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Tiago P. Nascimento","raw_affiliation_strings":["Department of Computer Systems, Informatics Center, Federal University of Paraiba (UFPB), Cidade Universitaria - Jo\u00e3o Pessoa - PB - Brazil","Department of Computer Systems, Informatics Center, Federal University of Paraiba (UFPB), Cidade Universitaria, Jo\u00e3o Pessoa, PB, Brazil"],"affiliations":[{"raw_affiliation_string":"Department of Computer Systems, Informatics Center, Federal University of Paraiba (UFPB), Cidade Universitaria - Jo\u00e3o Pessoa - PB - Brazil","institution_ids":["https://openalex.org/I169045520"]},{"raw_affiliation_string":"Department of Computer Systems, Informatics Center, Federal University of Paraiba (UFPB), Cidade Universitaria, Jo\u00e3o Pessoa, PB, Brazil","institution_ids":["https://openalex.org/I169045520"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088492305","display_name":"Andr\u00e9 G. S. Concei\u00e7\u00e3o","orcid":"https://orcid.org/0000-0001-8124-6253"},"institutions":[{"id":"https://openalex.org/I126158947","display_name":"Universidade Federal da Bahia","ror":"https://ror.org/03k3p7647","country_code":"BR","type":"education","lineage":["https://openalex.org/I126158947"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Andr\u00e9 G. S. Concei\u00e7\u00e3o","raw_affiliation_strings":["LaR - Robotics Lab, Department of Electrical Engineering, Polytechnic School, Federal University of Bahia (UFBA), Rua Aristides Novis, 02 Federa\u00e7\u00e3o - Salvador-BA - Brazil","\u2021LaR - Robotics Lab,Department of Electrical Engineering,Polytechnic School,Federal University of Bahia (UFBA),Rua Aristides Novis,02 Federa\u00e3o-Salvador-BA-Brazil"],"affiliations":[{"raw_affiliation_string":"LaR - Robotics Lab, Department of Electrical Engineering, Polytechnic School, Federal University of Bahia (UFBA), Rua Aristides Novis, 02 Federa\u00e7\u00e3o - Salvador-BA - Brazil","institution_ids":["https://openalex.org/I126158947"]},{"raw_affiliation_string":"\u2021LaR - Robotics Lab,Department of Electrical Engineering,Polytechnic School,Federal University of Bahia (UFBA),Rua Aristides Novis,02 Federa\u00e3o-Salvador-BA-Brazil","institution_ids":["https://openalex.org/I126158947"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013118179","display_name":"Ant\u00f3nio Paulo Moreira","orcid":"https://orcid.org/0000-0001-8573-3147"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Ant\u00f3nio Paulo Moreira","raw_affiliation_strings":["INESC TEC (formerly INESC Porto) and Faculty of Engineering, University of Porto, rua Dr. Roberto Frias, 4200-465 Porto, Portugal","INESC TEC (formerly INESC Porto) and Faculty of Engineering, University of Porto, rua Dr. Roberto Frias, 4200-465 Porto, Portugal#TAB#"],"affiliations":[{"raw_affiliation_string":"INESC TEC (formerly INESC Porto) and Faculty of Engineering, University of Porto, rua Dr. Roberto Frias, 4200-465 Porto, Portugal","institution_ids":["https://openalex.org/I182534213","https://openalex.org/I4210166615"]},{"raw_affiliation_string":"INESC TEC (formerly INESC Porto) and Faculty of Engineering, University of Porto, rua Dr. Roberto Frias, 4200-465 Porto, Portugal#TAB#","institution_ids":["https://openalex.org/I182534213"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5064505240"],"corresponding_institution_ids":["https://openalex.org/I169045520"],"apc_list":null,"apc_paid":null,"fwci":2.4137,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.90403757,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"34","issue":"3","first_page":"549","last_page":"567"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9990000128746033,"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":0.9990000128746033,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9968000054359436,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9947999715805054,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8575655221939087},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7499728798866272},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7294396162033081},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6097506284713745},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6048482656478882},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6034453511238098},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5750536918640137},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5737810134887695},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5513420701026917},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5238547325134277},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.48448869585990906},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.46978703141212463},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.4598435163497925},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45427238941192627},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4277743995189667},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3443793058395386},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.29150158166885376},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2415613830089569},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.08761468529701233}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8575655221939087},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7499728798866272},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7294396162033081},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6097506284713745},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6048482656478882},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6034453511238098},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5750536918640137},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5737810134887695},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5513420701026917},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5238547325134277},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.48448869585990906},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.46978703141212463},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.4598435163497925},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45427238941192627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4277743995189667},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3443793058395386},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29150158166885376},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2415613830089569},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.08761468529701233},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574714001696","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714001696","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"},{"id":"pmh:oai:repositorio.inesctec.pt:123456789/5061","is_oa":false,"landing_page_url":"http://repositorio.inesctec.pt/handle/123456789/5061","pdf_url":null,"source":{"id":"https://openalex.org/S4306402433","display_name":"Portuguese National Funding Agency for Science, Research and Technology (RCAAP Project by FCT)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W8369482","https://openalex.org/W101508493","https://openalex.org/W292508636","https://openalex.org/W774034202","https://openalex.org/W1516753695","https://openalex.org/W1560166988","https://openalex.org/W1563037943","https://openalex.org/W1963527683","https://openalex.org/W1967271642","https://openalex.org/W2002478547","https://openalex.org/W2007553829","https://openalex.org/W2032422329","https://openalex.org/W2051668425","https://openalex.org/W2053186192","https://openalex.org/W2056533660","https://openalex.org/W2066687901","https://openalex.org/W2080084155","https://openalex.org/W2085425283","https://openalex.org/W2114144879","https://openalex.org/W2115388248","https://openalex.org/W2119269142","https://openalex.org/W2122151059","https://openalex.org/W2131741451","https://openalex.org/W2132371610","https://openalex.org/W2135536848","https://openalex.org/W2143691503","https://openalex.org/W2143908786","https://openalex.org/W2154983964","https://openalex.org/W2156744625","https://openalex.org/W2171841639","https://openalex.org/W2399263370","https://openalex.org/W2402897656","https://openalex.org/W2611414181","https://openalex.org/W3102923851","https://openalex.org/W3140548794","https://openalex.org/W3147639870","https://openalex.org/W4242811155","https://openalex.org/W4387092942","https://openalex.org/W6920479705"],"related_works":["https://openalex.org/W3012341957","https://openalex.org/W3200041777","https://openalex.org/W2611879375","https://openalex.org/W3153481557","https://openalex.org/W2956606787","https://openalex.org/W3119736302","https://openalex.org/W2158014010","https://openalex.org/W3207611073","https://openalex.org/W1796340588","https://openalex.org/W2023779020"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2],"discusses":[3],"about":[4],"a":[5,26,78],"proposed":[6,34,104],"solution":[7],"to":[8,18,69],"the":[9,56,61,74,100,103],"obstacle":[10,42],"avoidance":[11],"problem":[12,37],"in":[13],"multi-robot":[14],"systems":[15],"when":[16],"applied":[17],"active":[19],"target":[20],"tracking.":[21],"It":[22],"is":[23,47],"explained":[24],"how":[25],"nonlinear":[27],"model":[28],"predictive":[29],"formation":[30],"control":[31],"(NMPFC)":[32],"previously":[33],"solves":[35],"this":[36],"of":[38,55,102],"fixed":[39],"and":[40,65,90,97],"moving":[41],"avoidance.":[43],"First,":[44],"an":[45],"approach":[46],"presented":[48,96],"which":[49],"uses":[50],"potential":[51,75],"functions":[52,76],"as":[53],"terms":[54,59],"NMPFC.":[57],"These":[58],"penalize":[60],"proximity":[62],"with":[63,73,88,92],"mates":[64],"obstacles.":[66],"A":[67],"strategy":[68],"avoid":[70],"singularity":[71],"problems":[72],"using":[77],"modified":[79],"A*":[80],"path":[81],"planning":[82],"algorithm":[83],"was":[84],"then":[85],"introduced.":[86],"Results":[87],"simulations":[89],"experiments":[91],"real":[93],"robots":[94],"are":[95],"discussed":[98],"demonstrating":[99],"efficiency":[101],"approach.":[105]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
