{"id":"https://openalex.org/W2539037514","doi":"https://doi.org/10.1080/00207179.2016.1250164","title":"Decentralised consensus-based formation tracking of multiple differential drive robots","display_name":"Decentralised consensus-based formation tracking of multiple differential drive robots","publication_year":2016,"publication_date":"2016-10-19","ids":{"openalex":"https://openalex.org/W2539037514","doi":"https://doi.org/10.1080/00207179.2016.1250164","mag":"2539037514"},"language":"en","primary_location":{"id":"doi:10.1080/00207179.2016.1250164","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207179.2016.1250164","pdf_url":null,"source":{"id":"https://openalex.org/S88061139","display_name":"International Journal of Control","issn_l":"0020-7179","issn":["0020-7179","1366-5820"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547","https://openalex.org/P4310320449"],"host_organization_lineage_names":["Taylor & Francis","Informa"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Control","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/A5075601620","display_name":"Xing Chu","orcid":"https://orcid.org/0000-0001-8654-7178"},"institutions":[{"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/I4387153239","display_name":"Centre de Recherche en Informatique, Signal et Automatique de Lille","ror":"https://ror.org/05vrs3189","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2279609970","https://openalex.org/I4387153239","https://openalex.org/I7454413"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Xing Chu","raw_affiliation_strings":["CRIStAL, UMR CNRS 9189, Ecole Centrale de Lille , Villeneuve d\u2019Ascq, France","CRIStAL, UMR CNRS 9189, Ecole Centrale de Lille\n, Villeneuve d'Ascq, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CRIStAL, UMR CNRS 9189, Ecole Centrale de Lille , Villeneuve d\u2019Ascq, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4387153239","https://openalex.org/I7454413"]},{"raw_affiliation_string":"CRIStAL, UMR CNRS 9189, Ecole Centrale de Lille\n, Villeneuve d'Ascq, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4387153239","https://openalex.org/I7454413"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046035584","display_name":"Zhaoxia Peng","orcid":"https://orcid.org/0000-0002-0275-9614"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhaoxia Peng","raw_affiliation_strings":["Beijing Engineering Center for Clean Energy & High Efficient Power, Beihang University , Beijing, P.R. China","School of Transportation Science and Engineering, Beihang University , Beijing, P.R. China","Beijing Engineering Center for Clean Energy & High Efficient Power, Beihang University\n, Beijing, P.R. China","School of Transportation Science and Engineering, Beihang University\n, Beijing, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Engineering Center for Clean Energy & High Efficient Power, Beihang University , Beijing, P.R. China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Transportation Science and Engineering, Beihang University , Beijing, P.R. China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Beijing Engineering Center for Clean Energy & High Efficient Power, Beihang University\n, Beijing, P.R. China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Transportation Science and Engineering, Beihang University\n, Beijing, P.R. China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106432259","display_name":"Guoguang Wen","orcid":null},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoguang Wen","raw_affiliation_strings":["Department of Mathematics, Beijing Jiaotong University , Beijing, P.R. China","Department of Mathematics, Beijing Jiaotong University\n, Beijing, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematics, Beijing Jiaotong University , Beijing, P.R. China","institution_ids":["https://openalex.org/I21193070"]},{"raw_affiliation_string":"Department of Mathematics, Beijing Jiaotong University\n, Beijing, P.R. China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063094001","display_name":"Ahmed Rahmani","orcid":"https://orcid.org/0000-0002-3871-4717"},"institutions":[{"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/I4387153239","display_name":"Centre de Recherche en Informatique, Signal et Automatique de Lille","ror":"https://ror.org/05vrs3189","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2279609970","https://openalex.org/I4387153239","https://openalex.org/I7454413"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ahmed Rahmani","raw_affiliation_strings":["CRIStAL, UMR CNRS 9189, Ecole Centrale de Lille , Villeneuve d\u2019Ascq, France","CRIStAL, UMR CNRS 9189, Ecole Centrale de Lille\n, Villeneuve d'Ascq, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CRIStAL, UMR CNRS 9189, Ecole Centrale de Lille , Villeneuve d\u2019Ascq, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4387153239","https://openalex.org/I7454413"]},{"raw_affiliation_string":"CRIStAL, UMR CNRS 9189, Ecole Centrale de Lille\n, Villeneuve d'Ascq, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4387153239","https://openalex.org/I7454413"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5046035584"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":2.2649,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.90332118,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"90","issue":"11","first_page":"2461","last_page":"2470"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":1.0,"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/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.9873999953269958,"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/T12158","display_name":"Guidance and Control Systems","score":0.9866999983787537,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/algebraic-graph-theory","display_name":"Algebraic graph theory","score":0.711070716381073},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7050718069076538},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5877751111984253},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5576444268226624},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5486919283866882},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5269395112991333},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5237196087837219},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5147490501403809},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4976077377796173},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.45892858505249023},{"id":"https://openalex.org/keywords/graph-theory","display_name":"Graph theory","score":0.43619421124458313},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4252168536186218},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3952312767505646},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.33239781856536865},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2671237289905548},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25805550813674927},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18158400058746338},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16787585616111755}],"concepts":[{"id":"https://openalex.org/C25799778","wikidata":"https://www.wikidata.org/wiki/Q4724003","display_name":"Algebraic graph theory","level":3,"score":0.711070716381073},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7050718069076538},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5877751111984253},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5576444268226624},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5486919283866882},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5269395112991333},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5237196087837219},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5147490501403809},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4976077377796173},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.45892858505249023},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.43619421124458313},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4252168536186218},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3952312767505646},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.33239781856536865},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2671237289905548},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25805550813674927},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18158400058746338},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16787585616111755},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/00207179.2016.1250164","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207179.2016.1250164","pdf_url":null,"source":{"id":"https://openalex.org/S88061139","display_name":"International Journal of Control","issn_l":"0020-7179","issn":["0020-7179","1366-5820"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547","https://openalex.org/P4310320449"],"host_organization_lineage_names":["Taylor & Francis","Informa"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Control","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-01735345v1","is_oa":false,"landing_page_url":"https://hal.science/hal-01735345","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Control, 2016, 90 (11), pp.2461 - 2470. ⟨10.1080/00207179.2016.1250164⟩","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G106628201","display_name":null,"funder_award_id":"61403019, 61503016","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8758610770","display_name":null,"funder_award_id":"YWF-14-RSC-032, YWF-15-SYS-JTXY-007, YWF-16-BJ-Y-21","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W255439423","https://openalex.org/W1517023801","https://openalex.org/W1751156337","https://openalex.org/W1895812186","https://openalex.org/W1938894423","https://openalex.org/W1970573063","https://openalex.org/W1970811568","https://openalex.org/W1982947074","https://openalex.org/W1988837728","https://openalex.org/W1990599200","https://openalex.org/W1993066376","https://openalex.org/W2000817470","https://openalex.org/W2018284512","https://openalex.org/W2018426510","https://openalex.org/W2034423960","https://openalex.org/W2042139228","https://openalex.org/W2048723778","https://openalex.org/W2049034415","https://openalex.org/W2051992728","https://openalex.org/W2055953081","https://openalex.org/W2078140837","https://openalex.org/W2087644059","https://openalex.org/W2096216635","https://openalex.org/W2097856935","https://openalex.org/W2099397914","https://openalex.org/W2100935517","https://openalex.org/W2105850748","https://openalex.org/W2107396783","https://openalex.org/W2115206688","https://openalex.org/W2119120935","https://openalex.org/W2123332983","https://openalex.org/W2133754447","https://openalex.org/W2143063014","https://openalex.org/W2147928602","https://openalex.org/W2152753105","https://openalex.org/W2165413656","https://openalex.org/W2192152407","https://openalex.org/W2240536489","https://openalex.org/W2310756702","https://openalex.org/W3106043943","https://openalex.org/W4231455906"],"related_works":["https://openalex.org/W2766499196","https://openalex.org/W2111838183","https://openalex.org/W2790395807","https://openalex.org/W2017968403","https://openalex.org/W2264666136","https://openalex.org/W2088612185","https://openalex.org/W2793992517","https://openalex.org/W2016910787","https://openalex.org/W2006091658","https://openalex.org/W2012345506"],"abstract_inverted_index":{"This":[0],"article":[1],"investigates":[2],"the":[3,37,44,64,68,82,91,108,125,128],"control":[4,101],"problem":[5,46],"for":[6,59],"formation":[7,84],"tracking":[8,66],"of":[9,27,40,67,76,98,127],"multiple":[10],"nonholonomic":[11,77],"robots":[12,79],"under":[13],"distributed":[14,51],"manner":[15],"which":[16,71],"means":[17,73],"each":[18,60],"robot":[19,61],"only":[20],"needs":[21],"local":[22],"information":[23],"exchange.":[24],"A":[25],"class":[26],"general":[28],"state":[29],"and":[30,100,115],"input":[31],"transform":[32],"is":[33,57,103],"introduced":[34],"to":[35,62,123],"convert":[36],"formation-tracking":[38],"issue":[39],"multi-robot":[41],"systems":[42],"into":[43],"consensus-like":[45],"with":[47,54,86],"time-varying":[48],"reference.":[49],"The":[50,95],"observer-based":[52],"protocol":[53],"nonlinear":[55],"dynamics":[56],"developed":[58],"achieve":[63],"consensus":[65],"new":[69],"system,":[70],"namely":[72],"a":[74],"group":[75],"mobile":[78],"can":[80],"form":[81],"desired":[83],"configuration":[85],"its":[87],"centroid":[88],"moving":[89],"along":[90],"predefined":[92],"reference":[93],"trajectory.":[94],"finite-time":[96],"stability":[97],"observer":[99],"law":[102],"analysed":[104],"rigorously":[105],"by":[106],"using":[107],"Lyapunov":[109],"direct":[110],"method,":[111],"algebraic":[112],"graph":[113],"theory":[114,129],"matrix":[116],"analysis.":[117],"Numerical":[118],"examples":[119],"are":[120],"finally":[121],"provided":[122],"illustrate":[124],"effectiveness":[126],"results":[130],"proposed":[131],"in":[132],"this":[133],"paper.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1}],"updated_date":"2026-08-15T07:11:24.734988","created_date":"2025-10-10T00:00:00"}