{"id":"https://openalex.org/W2122024790","doi":"https://doi.org/10.1109/acc.2008.4586897","title":"Decentralized estimation and control of graph connectivity in mobile sensor networks","display_name":"Decentralized estimation and control of graph connectivity in mobile sensor networks","publication_year":2008,"publication_date":"2008-06-01","ids":{"openalex":"https://openalex.org/W2122024790","doi":"https://doi.org/10.1109/acc.2008.4586897","mag":"2122024790"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2008.4586897","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2008.4586897","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 American Control Conference","raw_type":"proceedings-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/A5067923548","display_name":"Peng Yang","orcid":"https://orcid.org/0000-0002-1505-7857"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Peng Yang","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","Dept. of Mech. Eng., Northwestern Univ., Evanston, IL"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Northwestern Univ., Evanston, IL","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102856571","display_name":"Randy A. Freeman","orcid":"https://orcid.org/0000-0001-8998-3696"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Randy A. Freeman","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Northwestern University, Evanston, IL, USA","Department of Electrical Engineering and Computer Science, Northwestern University, Evanston, IL 60208-3118, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Northwestern University, Evanston, IL 60208-3118, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012830032","display_name":"Geoffrey J. Gordon","orcid":"https://orcid.org/0009-0007-9960-2114"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Geoffrey J. Gordon","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101845066","display_name":"Kevin Lynch","orcid":"https://orcid.org/0000-0003-3833-6004"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin M. Lynch","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","Department of Mechanical Engineering Northwestern University Evanston, IL 60208\u20103111 USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Department of Mechanical Engineering Northwestern University Evanston, IL 60208\u20103111 USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077719529","display_name":"Siddhartha S Srinivasa","orcid":"https://orcid.org/0000-0002-5091-106X"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddhartha S. Srinivasa","raw_affiliation_strings":["Intel Research, Pittsburgh, PA, USA","Intel#TAB#"],"affiliations":[{"raw_affiliation_string":"Intel Research, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I1343180700"]},{"raw_affiliation_string":"Intel#TAB#","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066107323","display_name":"Rahul Sukthankar","orcid":null},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rahul Sukthankar","raw_affiliation_strings":["Intel Research, Pittsburgh, PA, USA","Intel#TAB#"],"affiliations":[{"raw_affiliation_string":"Intel Research, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I1343180700"]},{"raw_affiliation_string":"Intel#TAB#","institution_ids":["https://openalex.org/I1343180700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5067923548"],"corresponding_institution_ids":["https://openalex.org/I111979921"],"apc_list":null,"apc_paid":null,"fwci":7.3323,"has_fulltext":false,"cited_by_count":90,"citation_normalized_percentile":{"value":0.97312771,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2678","last_page":"2683"},"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/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.9991999864578247,"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/T10246","display_name":"Mobile Ad Hoc Networks","score":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7215474247932434},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.6450100541114807},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6162862777709961},{"id":"https://openalex.org/keywords/algebraic-connectivity","display_name":"Algebraic connectivity","score":0.6150081157684326},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.6043938994407654},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5675883293151855},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5567853450775146},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.5156494379043579},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5032946467399597},{"id":"https://openalex.org/keywords/algebraic-graph-theory","display_name":"Algebraic graph theory","score":0.4929673671722412},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4521973729133606},{"id":"https://openalex.org/keywords/wireless-sensor-network","display_name":"Wireless sensor network","score":0.41319388151168823},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31744861602783203},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2767535448074341},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.19953730702400208},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.15227004885673523},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11883506178855896}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7215474247932434},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.6450100541114807},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6162862777709961},{"id":"https://openalex.org/C7948225","wikidata":"https://www.wikidata.org/wiki/Q4723998","display_name":"Algebraic connectivity","level":4,"score":0.6150081157684326},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.6043938994407654},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5675883293151855},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5567853450775146},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.5156494379043579},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5032946467399597},{"id":"https://openalex.org/C25799778","wikidata":"https://www.wikidata.org/wiki/Q4724003","display_name":"Algebraic graph theory","level":3,"score":0.4929673671722412},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4521973729133606},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.41319388151168823},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31744861602783203},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2767535448074341},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.19953730702400208},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.15227004885673523},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11883506178855896},{"id":"https://openalex.org/C115178988","wikidata":"https://www.wikidata.org/wiki/Q772067","display_name":"Laplacian matrix","level":3,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2008.4586897","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2008.4586897","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1576347883","https://openalex.org/W1587744656","https://openalex.org/W1828396650","https://openalex.org/W2023401026","https://openalex.org/W2025800439","https://openalex.org/W2039728842","https://openalex.org/W2044437309","https://openalex.org/W2075675490","https://openalex.org/W2100431085","https://openalex.org/W2107396783","https://openalex.org/W2113942919","https://openalex.org/W2118776811","https://openalex.org/W2124699533","https://openalex.org/W2127760330","https://openalex.org/W2130403046","https://openalex.org/W2142425726","https://openalex.org/W2142705361","https://openalex.org/W2143670637","https://openalex.org/W2146890818","https://openalex.org/W2147962158","https://openalex.org/W2151417892","https://openalex.org/W2151609251","https://openalex.org/W2152244994","https://openalex.org/W2154267961","https://openalex.org/W2165744313","https://openalex.org/W2167485994","https://openalex.org/W2169297812","https://openalex.org/W2792874300","https://openalex.org/W4320800818","https://openalex.org/W6638658631"],"related_works":["https://openalex.org/W2001476852","https://openalex.org/W2129123449","https://openalex.org/W3183749173","https://openalex.org/W2124620758","https://openalex.org/W1557246723","https://openalex.org/W2090233545","https://openalex.org/W4205812024","https://openalex.org/W2116503471","https://openalex.org/W1974676331","https://openalex.org/W2122024790"],"abstract_inverted_index":{"The":[0],"ability":[1],"of":[2,74,100],"a":[3,24,82,87,101,111],"robot":[4],"team":[5,50],"to":[6,17,29,36,95,118],"reconfigure":[7],"itself":[8],"is":[9],"useful":[10],"in":[11,81],"many":[12,42],"applications:":[13],"for":[14,20,26,33,115],"metamorphic":[15],"robots":[16],"change":[18],"shape,":[19],"swarm":[21],"motion":[22],"towards":[23],"goal,":[25],"biological":[27],"systems":[28],"avoid":[30],"predators,":[31],"or":[32],"mobile":[34],"buoys":[35],"clean":[37],"up":[38],"oil":[39],"spills.":[40],"In":[41,63],"situations,":[43],"auxiliary":[44],"constraints,":[45],"such":[46],"as":[47],"connectivity":[48,77,99,121],"between":[49],"members":[51],"and":[52,72],"limits":[53],"on":[54,105],"the":[55,70,75,97],"maximum":[56],"hop-count,":[57],"must":[58],"be":[59,79],"satisfied":[60],"during":[61,122],"reconfiguration.":[62],"this":[64,106],"paper,":[65],"we":[66,108],"show":[67],"that":[68,91],"both":[69],"estimation":[71,89],"control":[73],"graph":[76],"can":[78],"accomplished":[80],"decentralized":[83,88,112],"manner.":[84],"We":[85],"describe":[86],"procedure":[90],"allows":[92],"each":[93,116],"agent":[94,117],"track":[96],"algebraic":[98],"time-varying":[102],"graph.":[103],"Based":[104],"estimator,":[107],"further":[109],"propose":[110],"gradient":[113],"controller":[114],"maintain":[119],"global":[120],"motion.":[123]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":15},{"year":2012,"cited_by_count":14}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
