{"id":"https://openalex.org/W2066165078","doi":"https://doi.org/10.1108/01439911011044831","title":"Multi\u2010robot team formation control in the GUARDIANS project","display_name":"Multi\u2010robot team formation control in the GUARDIANS project","publication_year":2010,"publication_date":"2010-06-22","ids":{"openalex":"https://openalex.org/W2066165078","doi":"https://doi.org/10.1108/01439911011044831","mag":"2066165078"},"language":"en","primary_location":{"id":"doi:10.1108/01439911011044831","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439911011044831","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","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/A5062039178","display_name":"Joan S\u00e0ez-Pons","orcid":null},"institutions":[{"id":"https://openalex.org/I71422933","display_name":"Sheffield Hallam University","ror":"https://ror.org/019wt1929","country_code":"GB","type":"education","lineage":["https://openalex.org/I71422933"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Joan Saez\u2010Pons","raw_affiliation_strings":["Centre for Robotics and Automation, Sheffield Hallam University, Sheffield, UK","Centre for Robotics and Automation, Sheffield Hallam University, Sheffield, UK#TAB#"],"affiliations":[{"raw_affiliation_string":"Centre for Robotics and Automation, Sheffield Hallam University, Sheffield, UK","institution_ids":["https://openalex.org/I71422933"]},{"raw_affiliation_string":"Centre for Robotics and Automation, Sheffield Hallam University, Sheffield, UK#TAB#","institution_ids":["https://openalex.org/I71422933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069131707","display_name":"Lyuba Alboul","orcid":"https://orcid.org/0000-0001-9605-7228"},"institutions":[{"id":"https://openalex.org/I71422933","display_name":"Sheffield Hallam University","ror":"https://ror.org/019wt1929","country_code":"GB","type":"education","lineage":["https://openalex.org/I71422933"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Lyuba Alboul","raw_affiliation_strings":["Centre for Robotics and Automation, Sheffield Hallam University, Sheffield, UK","Sheffield Hallam University,#TAB#"],"affiliations":[{"raw_affiliation_string":"Centre for Robotics and Automation, Sheffield Hallam University, Sheffield, UK","institution_ids":["https://openalex.org/I71422933"]},{"raw_affiliation_string":"Sheffield Hallam University,#TAB#","institution_ids":["https://openalex.org/I71422933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111640357","display_name":"Jacques Penders","orcid":null},"institutions":[{"id":"https://openalex.org/I71422933","display_name":"Sheffield Hallam University","ror":"https://ror.org/019wt1929","country_code":"GB","type":"education","lineage":["https://openalex.org/I71422933"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jacques Penders","raw_affiliation_strings":["Centre for Robotics and Automation, Sheffield Hallam University, Sheffield, UK"],"affiliations":[{"raw_affiliation_string":"Centre for Robotics and Automation, Sheffield Hallam University, Sheffield, UK","institution_ids":["https://openalex.org/I71422933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017647282","display_name":"L. Nomdedeu","orcid":null},"institutions":[{"id":"https://openalex.org/I10902133","display_name":"Universitat Jaume I","ror":"https://ror.org/02ws1xc11","country_code":"ES","type":"education","lineage":["https://openalex.org/I10902133"]},{"id":"https://openalex.org/I71422933","display_name":"Sheffield Hallam University","ror":"https://ror.org/019wt1929","country_code":"GB","type":"education","lineage":["https://openalex.org/I71422933"]}],"countries":["ES","GB"],"is_corresponding":false,"raw_author_name":"Leo Nomdedeu","raw_affiliation_strings":["Computer Engineering and Science, University Jaume I (UJI), Castell\u00f3n, Spain","Centre for Robotics and Automation, Sheffield Hallam University, Sheffield, UK","Computer Engineering and Science, University Jaume I (UJI), 12071 Castell\u00f3n, Spain"],"affiliations":[{"raw_affiliation_string":"Computer Engineering and Science, University Jaume I (UJI), Castell\u00f3n, Spain","institution_ids":["https://openalex.org/I10902133"]},{"raw_affiliation_string":"Centre for Robotics and Automation, Sheffield Hallam University, Sheffield, UK","institution_ids":["https://openalex.org/I71422933"]},{"raw_affiliation_string":"Computer Engineering and Science, University Jaume I (UJI), 12071 Castell\u00f3n, Spain","institution_ids":["https://openalex.org/I10902133"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5062039178"],"corresponding_institution_ids":["https://openalex.org/I71422933"],"apc_list":null,"apc_paid":null,"fwci":3.0139,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.91465083,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"37","issue":"4","first_page":"372","last_page":"383"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983000159263611,"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":0.8298141360282898},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.6765435338020325},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.6735656261444092},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.5125002861022949},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.496846467256546},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4767664074897766},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4596206247806549},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43309056758880615},{"id":"https://openalex.org/keywords/rescue-robot","display_name":"Rescue robot","score":0.4306359887123108},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4044780433177948},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3661113381385803},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.3560643792152405},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3372657895088196},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.32701945304870605},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.233932226896286},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1237034797668457}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8298141360282898},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.6765435338020325},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.6735656261444092},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.5125002861022949},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.496846467256546},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4767664074897766},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4596206247806549},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43309056758880615},{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.4306359887123108},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4044780433177948},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3661113381385803},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.3560643792152405},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3372657895088196},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.32701945304870605},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.233932226896286},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1237034797668457},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1108/01439911011044831","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439911011044831","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"},{"id":"pmh:oai:shura.shu.ac.uk:3877","is_oa":false,"landing_page_url":"http://orcid.org/0000-0001-9605-7228>,","pdf_url":null,"source":{"id":"https://openalex.org/S4306401600","display_name":"SHURA (Sheffield Hallam University Research Archive) (Sheffield Hallam University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I71422933","host_organization_name":"Sheffield Hallam University","host_organization_lineage":["https://openalex.org/I71422933"],"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":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W15576130","https://openalex.org/W94944938","https://openalex.org/W101508493","https://openalex.org/W124661048","https://openalex.org/W1040735863","https://openalex.org/W1492403589","https://openalex.org/W1494867056","https://openalex.org/W1497885078","https://openalex.org/W1508718255","https://openalex.org/W1512235915","https://openalex.org/W1527943502","https://openalex.org/W1533117844","https://openalex.org/W1567268701","https://openalex.org/W1572542963","https://openalex.org/W1893135903","https://openalex.org/W1897494846","https://openalex.org/W1968807469","https://openalex.org/W2010392630","https://openalex.org/W2019258694","https://openalex.org/W2024628774","https://openalex.org/W2043293748","https://openalex.org/W2046616674","https://openalex.org/W2053407718","https://openalex.org/W2081844570","https://openalex.org/W2099397914","https://openalex.org/W2099630327","https://openalex.org/W2101760510","https://openalex.org/W2102924012","https://openalex.org/W2103338765","https://openalex.org/W2105306134","https://openalex.org/W2105308506","https://openalex.org/W2109948322","https://openalex.org/W2111328745","https://openalex.org/W2111429343","https://openalex.org/W2119120935","https://openalex.org/W2119899283","https://openalex.org/W2127132649","https://openalex.org/W2128209329","https://openalex.org/W2132984198","https://openalex.org/W2136901392","https://openalex.org/W2139369541","https://openalex.org/W2147928602","https://openalex.org/W2149469814","https://openalex.org/W2152306546","https://openalex.org/W2159826786","https://openalex.org/W2166967570","https://openalex.org/W2167261463","https://openalex.org/W2167485994","https://openalex.org/W2183751451","https://openalex.org/W2414011656","https://openalex.org/W2676322243","https://openalex.org/W2799004609","https://openalex.org/W4237274613","https://openalex.org/W4237327280","https://openalex.org/W4242811155","https://openalex.org/W6739669361"],"related_works":["https://openalex.org/W4206733587","https://openalex.org/W2388951953","https://openalex.org/W2367640936","https://openalex.org/W3101748978","https://openalex.org/W2543684242","https://openalex.org/W2361811248","https://openalex.org/W2981213010","https://openalex.org/W2155005883","https://openalex.org/W2117893626","https://openalex.org/W2643504578"],"abstract_inverted_index":{"Purpose":[0],"The":[1,26,43,66,95,170,223,281],"Group":[2],"of":[3,40,46,52,89,97,107,125,210,229,249,305,321,331,338,343],"Unmanned":[4],"Assistant":[5],"Robots":[6],"Deployed":[7],"in":[8,20,24,35,122,287,335],"Aggregative":[9],"Navigation":[10],"by":[11],"Scent":[12],"(GUARDIANS)":[13],"multi\u2010robot":[14,108],"team":[15,27,320,346],"is":[16,28,100,178],"to":[17,29,101,114,132,140,143,153,174,191,236,239,252,299],"be":[18,115,141,203,214,253,261,267,274],"deployed":[19],"a":[21,41,71,157,162,250,264,271,277,319,332,339,344],"large":[22,44],"warehouse":[23,34],"smoke.":[25],"assist":[30],"firefighters":[31,78],"search":[32,62],"the":[33,36,47,77,80,87,134,137,148,181,188,192,197,211,220,230,233,240,243,247,256,306,310,316,329,336],"event":[37],"or":[38,109,273,279],"danger":[39,90],"fire.":[42],"dimensions":[45],"environment":[48,225],"together":[49,155],"with":[50,318],"development":[51],"smoke":[53],"which":[54,112,187],"drastically":[55],"reduces":[56],"visibility,":[57],"represent":[58],"major":[59],"challenges":[60],"for":[61,196],"and":[63,73,75,86,91,119,164,208,303],"rescue":[64],"operations.":[65],"GUARDIANS":[67,126,198,224],"robots":[68,138,296],"act":[69],"alongside":[70],"firefighter":[72],"guide":[74],"accompany":[76],"on":[79,103,180,293,309,315],"site":[81],"while":[82,166],"indicating":[83],"possible":[84],"obstacles":[85],"locations":[88],"maintain":[92],"communications":[93],"links.":[94],"purpose":[96],"this":[98,168],"paper":[99,327],"focus":[102],"basic":[104,149],"navigation":[105],"behaviours":[106,150,177,212,283],"human\u2010robot":[110],"teams,":[111],"have":[113,284],"achieved":[116,204],"without":[117,205,216],"central":[118,206],"on\u2010line":[120],"control":[121,171],"both":[123],"categories":[124],"robots'":[127],"tasks.":[128],"Design/methodology/approach":[129],"In":[130],"order":[131],"fulfill":[133],"aforementioned":[135],"tasks,":[136],"need":[139],"able":[142],"perform":[144],"certain":[145],"behaviours.":[146],"Among":[147],"are":[151,323],"capabilities":[152],"stay":[154],"as":[156,270,276,290,292,300,312,314],"group,":[158],"that":[159,263],"is,":[160],"generate":[161,175],"formation":[163,234,251,265,334],"navigate":[165],"keeping":[167],"formation.":[169],"model":[172],"used":[173],"these":[176],"based":[179,308],"so\u2010called":[182],"social":[183],"potential":[184],"field":[185],"framework,":[186],"authors":[189],"adapt":[190,237],"specific":[193],"tasks":[194,201],"required":[195],"scenario.":[199],"All":[200],"can":[202,213,260],"control,":[207],"some":[209],"performed":[215],"explicit":[217],"communication":[218],"between":[219],"robots.":[221],"Findings":[222],"requires":[226],"flexible":[227],"formations":[228],"robot":[231,333,345],"team:":[232],"has":[235,245],"itself":[238],"circumstances.":[241],"Thus,":[242],"application":[244,342],"forced":[246],"concept":[248,330],"re\u2010defined.":[254],"Using":[255],"graph\u2010theoretic":[257],"terminology,":[258],"it":[259],"said":[262],"may":[266],"stretched":[268],"out":[269],"path":[272],"compact":[275],"star":[278],"wheel.":[280],"developed":[282],"been":[285],"implemented":[286],"simulation":[288],"environments":[289],"well":[291,313],"real":[294,340],"ERA\u2010MOBI":[295],"commonly":[297],"referred":[298],"Erratics.":[301],"Advantages":[302],"shortcomings":[304],"model,":[307],"simulations":[311],"implementation":[317],"Erratics":[322],"discussed.":[324],"Originality/value":[325],"This":[326],"discusses":[328],"context":[337],"world":[341],"(Swarm).":[347]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}