{"id":"https://openalex.org/W2937638185","doi":"https://doi.org/10.1080/00207179.2019.1605203","title":"Enclosing a moving target with an optimally rotated and scaled multiagent pattern","display_name":"Enclosing a moving target with an optimally rotated and scaled multiagent pattern","publication_year":2019,"publication_date":"2019-04-10","ids":{"openalex":"https://openalex.org/W2937638185","doi":"https://doi.org/10.1080/00207179.2019.1605203","mag":"2937638185"},"language":"en","primary_location":{"id":"doi:10.1080/00207179.2019.1605203","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207179.2019.1605203","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":true,"oa_status":"green","oa_url":"https://hal.science/hal-02099837","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101820828","display_name":"Miguel Aranda","orcid":"https://orcid.org/0000-0002-4556-7209"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210123221","display_name":"Sigma Clermont","ror":"https://ror.org/02n5evf44","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214","https://openalex.org/I4210123221","https://openalex.org/I4387154249"]},{"id":"https://openalex.org/I169645620","display_name":"Institut Pascal","ror":"https://ror.org/03vgfxd91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I198244214","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I4210103002","display_name":"University of Clermont Auvergne","ror":null,"country_code":"FR","type":null,"lineage":["https://openalex.org/I4210103002"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Miguel Aranda","raw_affiliation_strings":["Universit\u00e9 Clermont Auvergne, CNRS, SIGMA Clermont, Institut Pascal, F-63000 Clermont-Ferrand, France"],"affiliations":[{"raw_affiliation_string":"Universit\u00e9 Clermont Auvergne, CNRS, SIGMA Clermont, Institut Pascal, F-63000 Clermont-Ferrand, France","institution_ids":["https://openalex.org/I4210123221","https://openalex.org/I169645620","https://openalex.org/I4210103002","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048178604","display_name":"Youcef Mezouar","orcid":"https://orcid.org/0000-0001-8138-3928"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210103002","display_name":"University of Clermont Auvergne","ror":null,"country_code":"FR","type":null,"lineage":["https://openalex.org/I4210103002"]},{"id":"https://openalex.org/I169645620","display_name":"Institut Pascal","ror":"https://ror.org/03vgfxd91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I198244214","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I4210123221","display_name":"Sigma Clermont","ror":"https://ror.org/02n5evf44","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214","https://openalex.org/I4210123221","https://openalex.org/I4387154249"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Youcef Mezouar","raw_affiliation_strings":["Universit\u00e9 Clermont Auvergne, CNRS, SIGMA Clermont, Institut Pascal, F-63000 Clermont-Ferrand, France"],"affiliations":[{"raw_affiliation_string":"Universit\u00e9 Clermont Auvergne, CNRS, SIGMA Clermont, Institut Pascal, F-63000 Clermont-Ferrand, France","institution_ids":["https://openalex.org/I4210123221","https://openalex.org/I169645620","https://openalex.org/I4210103002","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077412220","display_name":"Gonzalo L\u00f3pez\u2010Nicol\u00e1s","orcid":"https://orcid.org/0000-0001-9347-5969"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Gonzalo L\u00f3pez-Nicol\u00e1s","raw_affiliation_strings":["Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n \u2013 Universidad de Zaragoza, Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n \u2013 Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052842220","display_name":"Carlos Sag\u00fc\u00e9s","orcid":"https://orcid.org/0000-0002-3032-954X"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Carlos Sag\u00fc\u00e9s","raw_affiliation_strings":["Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n \u2013 Universidad de Zaragoza, Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n \u2013 Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101820828"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I4210103002","https://openalex.org/I4210123221"],"apc_list":null,"apc_paid":null,"fwci":0.5305,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.6758493,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"94","issue":"3","first_page":"601","last_page":"611"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9965999722480774,"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/T12158","display_name":"Guidance and Control Systems","score":0.9922999739646912,"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/workspace","display_name":"Workspace","score":0.8490043878555298},{"id":"https://openalex.org/keywords/centroid","display_name":"Centroid","score":0.7360215187072754},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.6332585215568542},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.62532639503479},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5258011221885681},{"id":"https://openalex.org/keywords/constant-function","display_name":"Constant function","score":0.47003433108329773},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.4680860638618469},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.46449899673461914},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4406789243221283},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.42325782775878906},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3550748825073242},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32376086711883545},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32099881768226624},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2750696539878845},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15577813982963562},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11186936497688293},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08943688869476318}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8490043878555298},{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.7360215187072754},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.6332585215568542},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.62532639503479},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5258011221885681},{"id":"https://openalex.org/C153658351","wikidata":"https://www.wikidata.org/wiki/Q746264","display_name":"Constant function","level":3,"score":0.47003433108329773},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.4680860638618469},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.46449899673461914},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4406789243221283},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.42325782775878906},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3550748825073242},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32376086711883545},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32099881768226624},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2750696539878845},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15577813982963562},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11186936497688293},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08943688869476318},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1080/00207179.2019.1605203","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207179.2019.1605203","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"},{"id":"pmh:oai:HAL:hal-02099837v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02099837","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Control, 2019, pp.1-18. ⟨10.1080/00207179.2019.1605203⟩","raw_type":"Journal articles"},{"id":"pmh:oai:zaguan.unizar.es:88439","is_oa":false,"landing_page_url":"http://zaguan.unizar.es/record/88439","pdf_url":null,"source":{"id":"https://openalex.org/S4306401812","display_name":"Zaguan (University of Zaragoza Repository)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I255234318","host_organization_name":"Universidad de Zaragoza","host_organization_lineage":["https://openalex.org/I255234318"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02099837v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02099837","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Control, 2019, pp.1-18. ⟨10.1080/00207179.2019.1605203⟩","raw_type":"Journal articles"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W49315792","https://openalex.org/W615006660","https://openalex.org/W1126974217","https://openalex.org/W1862013120","https://openalex.org/W1975013860","https://openalex.org/W1979432817","https://openalex.org/W1981209947","https://openalex.org/W1981826826","https://openalex.org/W1989746389","https://openalex.org/W1990874732","https://openalex.org/W1994938045","https://openalex.org/W2014678902","https://openalex.org/W2016944945","https://openalex.org/W2022787452","https://openalex.org/W2023403097","https://openalex.org/W2029089298","https://openalex.org/W2029144026","https://openalex.org/W2044299979","https://openalex.org/W2058339219","https://openalex.org/W2059993653","https://openalex.org/W2078002809","https://openalex.org/W2114144879","https://openalex.org/W2115206688","https://openalex.org/W2123876595","https://openalex.org/W2130532917","https://openalex.org/W2138296912","https://openalex.org/W2141276434","https://openalex.org/W2142425726","https://openalex.org/W2154358437","https://openalex.org/W2160631274","https://openalex.org/W2162496869","https://openalex.org/W2165413656","https://openalex.org/W2203191674","https://openalex.org/W2219284467","https://openalex.org/W2343422466","https://openalex.org/W2416519775","https://openalex.org/W2532857053","https://openalex.org/W2586709461","https://openalex.org/W2795156925","https://openalex.org/W3100326858","https://openalex.org/W3102639082","https://openalex.org/W3104249539","https://openalex.org/W4213142442","https://openalex.org/W4240485562","https://openalex.org/W4241492945","https://openalex.org/W4251012943","https://openalex.org/W4365799826"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W1970280380"],"abstract_inverted_index":{"We":[0,51,141],"propose":[1,52],"a":[2,8,12,16,21,28,40,89,94],"novel":[3],"control":[4,54,85],"method":[5],"to":[6,66],"enclose":[7],"moving":[9],"target":[10],"in":[11,88,97],"two-dimensional":[13],"setting":[14],"with":[15,70,106],"team":[17],"of":[18,30,39,146],"agents":[19,63],"forming":[20],"prescribed":[22,68],"geometric":[23],"pattern.":[24],"The":[25],"approach":[26],"optimises":[27],"measure":[29],"the":[31,37,46,62,67,78,82,98,101,103,119,125,129,150],"overall":[32],"agent":[33],"motion":[34],"costs,":[35],"via":[36],"minimisation":[38],"suitably":[41],"defined":[42],"cost":[43],"function":[44],"encapsulating":[45],"pattern":[47,91,104],"rotation":[48],"and":[49,60,113],"scaling.":[50],"two":[53],"laws":[55],"which":[56],"use":[57],"global":[58],"information":[59],"make":[61],"exponentially":[64],"converge":[65],"formation":[69],"an":[71],"optimal":[72],"scale":[73],"that":[74,92],"remains":[75],"constant,":[76],"while":[77],"team's":[79],"centroid":[80],"tracks":[81],"target.":[83],"One":[84],"law":[86],"results":[87],"multiagent":[90],"keeps":[93],"constant":[95,107],"orientation":[96],"workspace;":[99],"for":[100,118,149],"other,":[102],"rotates":[105],"speed.":[108],"These":[109],"behaviours,":[110],"whose":[111],"optimality":[112],"steadiness":[114],"are":[115,156],"very":[116],"relevant":[117],"task":[120],"addressed,":[121],"occur":[122],"independently":[123],"from":[124],"target's":[126],"velocity.":[127],"Moreover,":[128],"methodology":[130],"does":[131],"not":[132],"require":[133],"distance":[134],"measurements,":[135],"common":[136],"coordinate":[137],"references,":[138],"or":[139],"communications.":[140],"also":[142],"present":[143],"formal":[144],"guarantees":[145],"collision":[147],"avoidance":[148],"proposed":[151],"approach.":[152],"Illustrative":[153],"simulation":[154],"examples":[155],"provided.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}