{"id":"https://openalex.org/W2313921833","doi":"https://doi.org/10.1080/01691864.2016.1159143","title":"Multi-robot formation control using distance and orientation","display_name":"Multi-robot formation control using distance and orientation","publication_year":2016,"publication_date":"2016-04-08","ids":{"openalex":"https://openalex.org/W2313921833","doi":"https://doi.org/10.1080/01691864.2016.1159143","mag":"2313921833"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2016.1159143","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2016.1159143","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"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":"Advanced Robotics","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/A5090247491","display_name":"Alexandro L\u00f3pez-Gonz\u00e1lez","orcid":"https://orcid.org/0000-0002-5517-1419"},"institutions":[{"id":"https://openalex.org/I205571821","display_name":"Ibero American University","ror":"https://ror.org/05vss7635","country_code":"MX","type":"education","lineage":["https://openalex.org/I205571821"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"A. Lopez-Gonzalez","raw_affiliation_strings":["Departamento de Ingenier\u00edas, Universidad Iberoamericana, Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00edas, Universidad Iberoamericana, Mexico City, Mexico","institution_ids":["https://openalex.org/I205571821"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042645452","display_name":"Enrique Ferreira","orcid":"https://orcid.org/0000-0002-6506-9477"},"institutions":[{"id":"https://openalex.org/I875251973","display_name":"Universidad Cat\u00f3lica del Uruguay","ror":"https://ror.org/019xvpc30","country_code":"UY","type":"education","lineage":["https://openalex.org/I875251973"]}],"countries":["UY"],"is_corresponding":false,"raw_author_name":"E. D. Ferreira","raw_affiliation_strings":["Facultad de Ingenier\u00eda y Tecnolog\u00edas, Departamento de Ingenier\u00eda El\u00e9ctrica, Universidad Cat\u00f3lica del Uruguay, Montevideo, Uruguay"],"affiliations":[{"raw_affiliation_string":"Facultad de Ingenier\u00eda y Tecnolog\u00edas, Departamento de Ingenier\u00eda El\u00e9ctrica, Universidad Cat\u00f3lica del Uruguay, Montevideo, Uruguay","institution_ids":["https://openalex.org/I875251973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003688475","display_name":"E. G. Hern\u00e1ndez-Mart\u00ednez","orcid":"https://orcid.org/0000-0002-2716-6196"},"institutions":[{"id":"https://openalex.org/I205571821","display_name":"Ibero American University","ror":"https://ror.org/05vss7635","country_code":"MX","type":"education","lineage":["https://openalex.org/I205571821"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"E. G. Hernandez-Martinez","raw_affiliation_strings":["Departamento de Ingenier\u00edas, Universidad Iberoamericana, Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00edas, Universidad Iberoamericana, Mexico City, Mexico","institution_ids":["https://openalex.org/I205571821"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053644314","display_name":"J.J. Flores-Godoy","orcid":"https://orcid.org/0000-0003-0569-0162"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"J. J. Flores-Godoy","raw_affiliation_strings":["Facultad de Ingenier\u00eda y Tecnolog\u00edas, Departamento de Matem\u00e1tica, Universidad Cat\u00f3lica del Uruguay, Montevideo, Uruguay"],"affiliations":[{"raw_affiliation_string":"Facultad de Ingenier\u00eda y Tecnolog\u00edas, Departamento de Matem\u00e1tica, Universidad Cat\u00f3lica del Uruguay, Montevideo, Uruguay","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065329018","display_name":"Guillermo Fern\u00e1ndez\u2010Anaya","orcid":"https://orcid.org/0000-0002-9695-3409"},"institutions":[{"id":"https://openalex.org/I205571821","display_name":"Ibero American University","ror":"https://ror.org/05vss7635","country_code":"MX","type":"education","lineage":["https://openalex.org/I205571821"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"G. Fernandez-Anaya","raw_affiliation_strings":["Departamento de F\u00edsica y Matem\u00e1ticas, Universidad Iberoamericana, Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"Departamento de F\u00edsica y Matem\u00e1ticas, Universidad Iberoamericana, Mexico City, Mexico","institution_ids":["https://openalex.org/I205571821"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000271928","display_name":"P. Paniagua-Contro","orcid":null},"institutions":[{"id":"https://openalex.org/I205571821","display_name":"Ibero American University","ror":"https://ror.org/05vss7635","country_code":"MX","type":"education","lineage":["https://openalex.org/I205571821"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"P. Paniagua-Contro","raw_affiliation_strings":["Departamento de Ingenier\u00edas, Universidad Iberoamericana, Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00edas, Universidad Iberoamericana, Mexico City, Mexico","institution_ids":["https://openalex.org/I205571821"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5003688475"],"corresponding_institution_ids":["https://openalex.org/I205571821"],"apc_list":null,"apc_paid":null,"fwci":3.1849,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.92154515,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"30","issue":"14","first_page":"901","last_page":"913"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robot","display_name":"Robot","score":0.6533124446868896},{"id":"https://openalex.org/keywords/normalization","display_name":"Normalization (sociology)","score":0.6425862312316895},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6365289688110352},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5120387673377991},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4978938102722168},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4959598481655121},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4553069472312927},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4464621841907501},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4393467903137207},{"id":"https://openalex.org/keywords/reference-frame","display_name":"Reference frame","score":0.43635323643684387},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4166216552257538},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.34079408645629883},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3178884983062744},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3135226368904114},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.30602210760116577},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.13965123891830444},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09795311093330383}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6533124446868896},{"id":"https://openalex.org/C136886441","wikidata":"https://www.wikidata.org/wiki/Q926129","display_name":"Normalization (sociology)","level":2,"score":0.6425862312316895},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6365289688110352},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5120387673377991},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4978938102722168},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4959598481655121},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4553069472312927},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4464621841907501},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4393467903137207},{"id":"https://openalex.org/C172849965","wikidata":"https://www.wikidata.org/wiki/Q3148875","display_name":"Reference frame","level":3,"score":0.43635323643684387},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4166216552257538},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34079408645629883},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3178884983062744},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3135226368904114},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.30602210760116577},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.13965123891830444},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09795311093330383},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C19165224","wikidata":"https://www.wikidata.org/wiki/Q23404","display_name":"Anthropology","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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":1,"locations":[{"id":"doi:10.1080/01691864.2016.1159143","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2016.1159143","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"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":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G3059707340","display_name":null,"funder_award_id":"SNI_2008_200","funder_id":"https://openalex.org/F4320310753","funder_display_name":"Agencia Nacional de Investigaci\u00f3n e Innovaci\u00f3n"},{"id":"https://openalex.org/G4142151478","display_name":null,"funder_award_id":"0051","funder_id":"https://openalex.org/F4320310986","funder_display_name":"Universidad Iberoamericana Ciudad de M\u00e9xico"},{"id":"https://openalex.org/G4521831510","display_name":null,"funder_award_id":"13526","funder_id":"https://openalex.org/F4320324348","funder_display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda, Guatemala"},{"id":"https://openalex.org/G702861900","display_name":null,"funder_award_id":"SNI 51395","funder_id":"https://openalex.org/F4320321739","funder_display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda"}],"funders":[{"id":"https://openalex.org/F4320310753","display_name":"Agencia Nacional de Investigaci\u00f3n e Innovaci\u00f3n","ror":"https://ror.org/03egaj678"},{"id":"https://openalex.org/F4320310986","display_name":"Universidad Iberoamericana Ciudad de M\u00e9xico","ror":"https://ror.org/05vss7635"},{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"},{"id":"https://openalex.org/F4320324348","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda, Guatemala","ror":"https://ror.org/03pr08s76"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W61370041","https://openalex.org/W1487127700","https://openalex.org/W1563826663","https://openalex.org/W1630241696","https://openalex.org/W1971044547","https://openalex.org/W1972020554","https://openalex.org/W1980392184","https://openalex.org/W1981826826","https://openalex.org/W1982425003","https://openalex.org/W1994938045","https://openalex.org/W2004723128","https://openalex.org/W2013853151","https://openalex.org/W2015787580","https://openalex.org/W2018284512","https://openalex.org/W2038625296","https://openalex.org/W2067461601","https://openalex.org/W2068394052","https://openalex.org/W2070137281","https://openalex.org/W2097346851","https://openalex.org/W2098764734","https://openalex.org/W2099502879","https://openalex.org/W2100920791","https://openalex.org/W2107910011","https://openalex.org/W2108261524","https://openalex.org/W2119120935","https://openalex.org/W2126731873","https://openalex.org/W2147501455","https://openalex.org/W2147928602","https://openalex.org/W2158820400","https://openalex.org/W2163416959","https://openalex.org/W2165744313","https://openalex.org/W2247422325","https://openalex.org/W2491874087","https://openalex.org/W3084077840","https://openalex.org/W3102639082"],"related_works":["https://openalex.org/W2591697403","https://openalex.org/W2953716828","https://openalex.org/W2904857019","https://openalex.org/W2944728705","https://openalex.org/W3011538607","https://openalex.org/W2904022177","https://openalex.org/W2359348847","https://openalex.org/W4321441197","https://openalex.org/W4294432981","https://openalex.org/W4321276295"],"abstract_inverted_index":{"Formation":[0],"control":[1,43,106,111,131],"analyses":[2],"the":[3,25,32,41,68,72,86,105,114,117,125],"convergence":[4],"of":[5,8,28,31,71,85,116,119,128],"a":[6,37,53,60],"group":[7,33],"mobile":[9],"agents":[10,73],"to":[11,36,48,89,123],"predefined":[12],"geometric":[13],"patterns.":[14],"In":[15],"traditional":[16],"approaches,":[17],"it":[18],"is":[19,133],"assumed":[20],"that":[21,67,112],"each":[22],"agent":[23],"knows":[24],"exact":[26],"position":[27],"certain":[29,90],"members":[30],"with":[34,77,94,138,146],"respect":[35],"reference":[38],"frame":[39],"and":[40,79,98,141],"associated":[42],"laws":[44],"are":[45],"designed":[46],"according":[47],"inter-robot":[49,95],"relative":[50],"positions.":[51],"Designing":[52],"more":[54],"decentralized":[55],"scheme,":[56,62],"this":[57],"paper":[58,87],"proposes":[59],"formation":[61,102],"using":[63],"Lyapunov":[64],"techniques,":[65],"considering":[66],"local":[69],"controllers":[70],"can":[74],"be":[75],"equipped":[76],"distance":[78],"orientation":[80],"sensors.":[81],"The":[82,130],"main":[83],"result":[84],"applies":[88],"distance-based":[91],"potential":[92],"functions":[93],"collision":[96],"avoidance":[97],"an":[99,109],"arbitrary":[100],"undirected":[101],"graph.":[103],"Also,":[104],"law":[107],"includes":[108],"integral-type":[110],"eliminates":[113],"effects":[115],"dead-zone":[118],"actuators":[120],"in":[121],"order":[122],"avoid":[124],"standard":[126],"techniques":[127],"normalization.":[129],"approach":[132],"analyzed":[134],"for":[135,143],"omnidirectional":[136],"robots":[137,145],"numerical":[139],"simulations":[140],"extended":[142],"unicycle-type":[144],"real-time":[147],"experiments.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
