{"id":"https://openalex.org/W2923844273","doi":"https://doi.org/10.1080/00207179.2019.1598581","title":"Consensus-based formation control for nonholonomic vehicles with parallel desired formations","display_name":"Consensus-based formation control for nonholonomic vehicles with parallel desired formations","publication_year":2019,"publication_date":"2019-03-21","ids":{"openalex":"https://openalex.org/W2923844273","doi":"https://doi.org/10.1080/00207179.2019.1598581","mag":"2923844273"},"language":"en","primary_location":{"id":"doi:10.1080/00207179.2019.1598581","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207179.2019.1598581","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"],"host_organization_lineage_names":["Taylor & Francis"],"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/A5115430452","display_name":"Xiaodong He","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaodong He","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing, People's Republic of China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100354416","display_name":"Zhiyong Geng","orcid":"https://orcid.org/0000-0002-6485-8431"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhiyong Geng","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing, People's Republic of China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100354416"],"corresponding_institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"],"apc_list":null,"apc_paid":null,"fwci":2.2285,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.88823729,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"94","issue":"2","first_page":"507","last_page":"520"},"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":0.9926999807357788,"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/T10482","display_name":"Mathematical and Theoretical Epidemiology and Ecology Models","score":0.98089998960495,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.7978707551956177},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6581810712814331},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6094967126846313},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5310488343238831},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5256180167198181},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5019614696502686},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4815247654914856},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.48051533102989197},{"id":"https://openalex.org/keywords/consensus","display_name":"Consensus","score":0.4552350342273712},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.42891934514045715},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3007810711860657},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.28590768575668335},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21252986788749695},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1269109547138214},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09886598587036133},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07009020447731018}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7978707551956177},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6581810712814331},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6094967126846313},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5310488343238831},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5256180167198181},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5019614696502686},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4815247654914856},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.48051533102989197},{"id":"https://openalex.org/C107107730","wikidata":"https://www.wikidata.org/wiki/Q2994424","display_name":"Consensus","level":3,"score":0.4552350342273712},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.42891934514045715},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3007810711860657},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.28590768575668335},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21252986788749695},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1269109547138214},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09886598587036133},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07009020447731018},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/00207179.2019.1598581","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207179.2019.1598581","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"],"host_organization_lineage_names":["Taylor & Francis"],"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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G8579642290","display_name":null,"funder_award_id":"61374033,61773024,613","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1483804921","https://openalex.org/W1502308290","https://openalex.org/W1974305650","https://openalex.org/W1996024419","https://openalex.org/W2021678814","https://openalex.org/W2024325338","https://openalex.org/W2035945038","https://openalex.org/W2036571133","https://openalex.org/W2055953081","https://openalex.org/W2089724372","https://openalex.org/W2098748755","https://openalex.org/W2099175737","https://openalex.org/W2107396783","https://openalex.org/W2111838183","https://openalex.org/W2136269739","https://openalex.org/W2146890818","https://openalex.org/W2152556309","https://openalex.org/W2152753105","https://openalex.org/W2156998846","https://openalex.org/W2166103243","https://openalex.org/W2240890113","https://openalex.org/W2241407756","https://openalex.org/W2324744714","https://openalex.org/W2520150957","https://openalex.org/W2539037514","https://openalex.org/W2604469503","https://openalex.org/W2766865620","https://openalex.org/W2783792618","https://openalex.org/W4238591275","https://openalex.org/W4292402580"],"related_works":["https://openalex.org/W3024854954","https://openalex.org/W2787042957","https://openalex.org/W2187204754","https://openalex.org/W1488243182","https://openalex.org/W2365767001","https://openalex.org/W2348149104","https://openalex.org/W2062274034","https://openalex.org/W1530904249","https://openalex.org/W642753772","https://openalex.org/W1902133049"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposed":[2],"a":[3,27,36,51,92,114],"leaderless":[4,94],"consensus-based":[5,95],"formation":[6,85,96],"control":[7,22,31,72,86],"law":[8,73],"with":[9,40,100],"global":[10,28,93],"convergence":[11],"domain":[12],"for":[13,23,74,98],"multiple":[14,61],"nonholonomic":[15],"vehicles.":[16],"We":[17],"firstly":[18],"studied":[19],"the":[20,41,44,57,71,82,106,118,123,131],"consensus":[21,58,76,88],"two":[24,68],"vehicles,":[25,69],"where":[26,104],"and":[29,70],"asymptotical":[30],"strategy":[32],"was":[33,63,77],"introduced":[34],"holding":[35],"symmetric":[37],"structure.":[38],"Next,":[39],"aid":[42],"of":[43,60,67],"convex":[45],"combination":[46],"in":[47,113],"manifolds,":[48],"we":[49,90],"constructed":[50],"virtual":[52],"system,":[53],"based":[54],"on":[55],"which":[56],"problem":[59],"vehicles":[62,99,107],"converted":[64],"to":[65,81,87,110],"that":[66],"multi-vehicle":[75],"addressed.":[78],"Then,":[79],"according":[80],"transformation":[83],"from":[84],"control,":[89],"presented":[91],"controller":[97],"parallel":[101,109],"desired":[102],"formations,":[103],"all":[105],"were":[108,128],"each":[111],"other":[112],"straight":[115],"line":[116],"along":[117],"lateral":[119],"direction.":[120],"To":[121],"verify":[122],"theoretical":[124],"results,":[125],"numerical":[126],"simulations":[127],"given":[129],"at":[130],"end.":[132]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-25T08:17:42.794288","created_date":"2025-10-10T00:00:00"}