{"id":"https://openalex.org/W4390340699","doi":"https://doi.org/10.1080/00207721.2023.2293684","title":"Formation control for swarm system with dynamic obstacles","display_name":"Formation control for swarm system with dynamic obstacles","publication_year":2023,"publication_date":"2023-12-28","ids":{"openalex":"https://openalex.org/W4390340699","doi":"https://doi.org/10.1080/00207721.2023.2293684"},"language":"en","primary_location":{"id":"doi:10.1080/00207721.2023.2293684","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207721.2023.2293684","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"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 Systems Science","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":null,"display_name":"Z. X. Lan","orcid":null},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Z. X. Lan","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, People's Republic of China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100719924","display_name":"Yong Guan","orcid":"https://orcid.org/0000-0003-0445-1848"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]},{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Y. C. Guan","raw_affiliation_strings":["College of Electronic Information and Optical Engineering, Nankai University, Tianjin, People's Republic of China","School of Automation, Hangzhou Dianzi University, Hangzhou, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electronic Information and Optical Engineering, Nankai University, Tianjin, People's Republic of China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, People's Republic of China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102775295","display_name":"Yun Chen","orcid":"https://orcid.org/0000-0002-7819-6686"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Y. Chen","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, People's Republic of China"],"raw_orcid":"https://orcid.org/0000-0002-7819-6686","affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, People's Republic of China","institution_ids":["https://openalex.org/I50760025"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100719924"],"corresponding_institution_ids":["https://openalex.org/I205237279","https://openalex.org/I50760025"],"apc_list":null,"apc_paid":null,"fwci":0.8773,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.76208355,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"55","issue":"4","first_page":"701","last_page":"713"},"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":0.9991000294685364,"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":0.9972000122070312,"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/collision","display_name":"Collision","score":0.6503744125366211},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.5872856378555298},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5306854248046875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5170929431915283},{"id":"https://openalex.org/keywords/hazard","display_name":"Hazard","score":0.5114928483963013},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.47914284467697144},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4771040081977844},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4630252420902252},{"id":"https://openalex.org/keywords/voronoi-diagram","display_name":"Voronoi diagram","score":0.4608449935913086},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.4491196274757385},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3428005576133728},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3254495859146118},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.324236661195755},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3234925866127014},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10930854082107544},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09265473484992981},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07917153835296631},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07363849878311157}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6503744125366211},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.5872856378555298},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5306854248046875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5170929431915283},{"id":"https://openalex.org/C49261128","wikidata":"https://www.wikidata.org/wiki/Q1132455","display_name":"Hazard","level":2,"score":0.5114928483963013},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.47914284467697144},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4771040081977844},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4630252420902252},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.4608449935913086},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.4491196274757385},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3428005576133728},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3254495859146118},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.324236661195755},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3234925866127014},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10930854082107544},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09265473484992981},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07917153835296631},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07363849878311157},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/00207721.2023.2293684","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207721.2023.2293684","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"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 Systems Science","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:taf:tsysxx:v:55:y:2024:i:4:p:701-713","is_oa":false,"landing_page_url":"http://hdl.handle.net/10.1080/00207721.2023.2293684","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G293587853","display_name":null,"funder_award_id":"62303144","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3875759817","display_name":"\u65e0\u4eba\u673a\u96c6\u7fa4\u57fa\u4e8ePDE \u5bb9\u9519\u7f16\u961f\u63a7\u5236\u7814\u7a76","funder_award_id":"LQ23F030013","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"},{"id":"https://openalex.org/G4929461957","display_name":null,"funder_award_id":"U22A2044","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7416843964","display_name":null,"funder_award_id":"61973102","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"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1965940578","https://openalex.org/W1998332116","https://openalex.org/W2014085413","https://openalex.org/W2042733674","https://openalex.org/W2100523039","https://openalex.org/W2131505299","https://openalex.org/W2138955259","https://openalex.org/W2271518970","https://openalex.org/W2320744349","https://openalex.org/W2404432152","https://openalex.org/W2418803081","https://openalex.org/W2500968061","https://openalex.org/W2589869525","https://openalex.org/W2624934338","https://openalex.org/W2809138523","https://openalex.org/W2964057747","https://openalex.org/W2967846306","https://openalex.org/W3003315156","https://openalex.org/W3135076638","https://openalex.org/W3165280930","https://openalex.org/W3209184047","https://openalex.org/W4200584179","https://openalex.org/W4205951204","https://openalex.org/W4206009461","https://openalex.org/W4206422821","https://openalex.org/W4206759694","https://openalex.org/W4221095669","https://openalex.org/W4252907012","https://openalex.org/W4312578919","https://openalex.org/W4313022716","https://openalex.org/W4313316269","https://openalex.org/W4318624660","https://openalex.org/W4320479351","https://openalex.org/W4361799636"],"related_works":["https://openalex.org/W3020555194","https://openalex.org/W2793256277","https://openalex.org/W2348235448","https://openalex.org/W4360958759","https://openalex.org/W2116218375","https://openalex.org/W2389906634","https://openalex.org/W3045722011","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,8,22,43,53],"formation":[4],"control":[5],"method":[6],"for":[7,67],"swarm":[9],"system,":[10],"wherein":[11],"each":[12,68],"agent":[13,35,69],"is":[14,39,65],"capable":[15],"of":[16,49,56,106],"avoiding":[17],"dynamic":[18,50],"obstacles":[19,51],"to":[20],"reach":[21],"target":[23,98],"area":[24],"on":[25,81],"the":[26,29,57,62,72,82,86,92,97,104,107],"plane.":[27],"Firstly,":[28],"collision":[30,87],"hazard":[31,88],"area,":[32,89],"where":[33],"an":[34],"collides":[36],"upon":[37],"entry,":[38],"established":[40],"by":[41,70],"integrating":[42],"partial":[44],"differential":[45],"equation-based":[46],"distribution":[47],"model":[48,55],"and":[52],"curve":[54],"front":[58],"agents'":[59],"deployment.":[60],"Secondly,":[61],"coverage-based":[63],"controller":[64],"designed":[66],"optimising":[71],"objective":[73],"function":[74],"concerning":[75],"its":[76],"respective":[77],"visibility-limited":[78],"Voronoi":[79],"set":[80],"manoeuvrable":[83],"domain":[84],"outside":[85],"ensuring":[90],"that":[91],"agent's":[93],"trajectories":[94],"remain":[95],"within":[96],"area.":[99],"Simulation":[100],"results":[101],"finally":[102],"demonstrate":[103],"effectiveness":[105],"proposed":[108],"approach.":[109]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-13T07:31:44.756512","created_date":"2025-10-10T00:00:00"}