{"id":"https://openalex.org/W2143023228","doi":"https://doi.org/10.1109/acc.2009.5160294","title":"Coordinated control of multiple mobile robots in pursuit-evasion games","display_name":"Coordinated control of multiple mobile robots in pursuit-evasion games","publication_year":2009,"publication_date":"2009-01-01","ids":{"openalex":"https://openalex.org/W2143023228","doi":"https://doi.org/10.1109/acc.2009.5160294","mag":"2143023228"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2009.5160294","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2009.5160294","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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/A5101794929","display_name":"Feifei Huang","orcid":"https://orcid.org/0000-0003-0551-1507"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Feifei Huang","raw_affiliation_strings":["Intelligent Control Laboratory Center for Systems and Control College of Engineering, Peking University, Beijing, China","Intelligent Control Laboratory, Center for Systems and Control, College of Engineering, Peking University, Beijing 100871, China#TAB#"],"affiliations":[{"raw_affiliation_string":"Intelligent Control Laboratory Center for Systems and Control College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Intelligent Control Laboratory, Center for Systems and Control, College of Engineering, Peking University, Beijing 100871, China#TAB#","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100447536","display_name":"Long Wang","orcid":"https://orcid.org/0000-0001-5600-8157"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Wang","raw_affiliation_strings":["Intelligent Control Laboratory Center for Systems and Control College of Engineering, Peking University, Beijing, China","Intelligent Control Laboratory, Center for Systems and Control, College of Engineering, Peking University, Beijing 100871, China#TAB#"],"affiliations":[{"raw_affiliation_string":"Intelligent Control Laboratory Center for Systems and Control College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Intelligent Control Laboratory, Center for Systems and Control, College of Engineering, Peking University, Beijing 100871, China#TAB#","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025723618","display_name":"Qining Wang","orcid":"https://orcid.org/0000-0003-3484-4810"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qining Wang","raw_affiliation_strings":["Intelligent Control Laboratory Center for Systems and Control College of Engineering, Peking University, Beijing, China","Intelligent Control Laboratory, Center for Systems and Control, College of Engineering, Peking University, Beijing 100871, China#TAB#"],"affiliations":[{"raw_affiliation_string":"Intelligent Control Laboratory Center for Systems and Control College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Intelligent Control Laboratory, Center for Systems and Control, College of Engineering, Peking University, Beijing 100871, China#TAB#","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077902436","display_name":"Ming Wu","orcid":"https://orcid.org/0000-0001-8390-5398"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Wu","raw_affiliation_strings":["Intelligent Control Laboratory Center for Systems and Control College of Engineering, Peking University, Beijing, China","Intelligent Control Laboratory, Center for Systems and Control, College of Engineering, Peking University, Beijing 100871, China#TAB#"],"affiliations":[{"raw_affiliation_string":"Intelligent Control Laboratory Center for Systems and Control College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Intelligent Control Laboratory, Center for Systems and Control, College of Engineering, Peking University, Beijing 100871, China#TAB#","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100731040","display_name":"Yingmin Jia","orcid":"https://orcid.org/0000-0002-6212-9796"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingmin Jia","raw_affiliation_strings":["Seventh Research Division, Beijing Aeronautics and Astronautics University, Beijing, China","Seventh Research Division, Beijing University of Aeronautics and Astronautics, 100083, China"],"affiliations":[{"raw_affiliation_string":"Seventh Research Division, Beijing Aeronautics and Astronautics University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Seventh Research Division, Beijing University of Aeronautics and Astronautics, 100083, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101794929"],"corresponding_institution_ids":["https://openalex.org/I20231570"],"apc_list":null,"apc_paid":null,"fwci":2.5488,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.89859143,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2861","last_page":"2866"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9958000183105469,"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/mobile-robot","display_name":"Mobile robot","score":0.7487263679504395},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.7070109248161316},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6912649869918823},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6573406457901001},{"id":"https://openalex.org/keywords/pursuit-evasion","display_name":"Pursuit-evasion","score":0.6539280414581299},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6436174511909485},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5020368099212646},{"id":"https://openalex.org/keywords/evasion","display_name":"Evasion (ethics)","score":0.49850010871887207},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.48833176493644714},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.46350187063217163},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4286932349205017},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.4282107651233673},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4281238913536072},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4040513038635254},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3834395110607147},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19422760605812073}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7487263679504395},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7070109248161316},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6912649869918823},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6573406457901001},{"id":"https://openalex.org/C2778388243","wikidata":"https://www.wikidata.org/wiki/Q7261573","display_name":"Pursuit-evasion","level":2,"score":0.6539280414581299},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6436174511909485},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5020368099212646},{"id":"https://openalex.org/C2781251061","wikidata":"https://www.wikidata.org/wiki/Q5416089","display_name":"Evasion (ethics)","level":3,"score":0.49850010871887207},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.48833176493644714},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.46350187063217163},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4286932349205017},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.4282107651233673},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4281238913536072},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4040513038635254},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3834395110607147},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19422760605812073},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C8891405","wikidata":"https://www.wikidata.org/wiki/Q1059","display_name":"Immune system","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C203014093","wikidata":"https://www.wikidata.org/wiki/Q101929","display_name":"Immunology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2009.5160294","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2009.5160294","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W34663649","https://openalex.org/W1545851874","https://openalex.org/W1816496481","https://openalex.org/W1900131006","https://openalex.org/W2047328415","https://openalex.org/W2050997834","https://openalex.org/W2066852233","https://openalex.org/W2102624256","https://openalex.org/W2103171634","https://openalex.org/W2103982636","https://openalex.org/W2118525851","https://openalex.org/W2121288348","https://openalex.org/W2125165804","https://openalex.org/W2128410140","https://openalex.org/W2142924305","https://openalex.org/W2143864104","https://openalex.org/W2144159340","https://openalex.org/W2150440166","https://openalex.org/W2159477781","https://openalex.org/W2160484294","https://openalex.org/W2167322980","https://openalex.org/W2169240708","https://openalex.org/W4214718209","https://openalex.org/W4238643947","https://openalex.org/W6601397909","https://openalex.org/W6666830286"],"related_works":["https://openalex.org/W2066807010","https://openalex.org/W2020829486","https://openalex.org/W4248803515","https://openalex.org/W2352258019","https://openalex.org/W2016451691","https://openalex.org/W2546733891","https://openalex.org/W3037033265","https://openalex.org/W2902449143","https://openalex.org/W4220855336","https://openalex.org/W2745069496"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"the":[3,34,49,59,66,82],"scenario":[4],"that":[5],"a":[6,12,18,27,71],"team":[7],"of":[8,39,58,62,84],"autonomous":[9],"robots":[10,80],"pursues":[11],"smart":[13],"evader":[14,54],"while":[15],"concurrently":[16],"building":[17,51],"global":[19],"map":[20,50],"in":[21],"an":[22],"unknown":[23],"environment.":[24],"We":[25],"develop":[26],"modular":[28],"hybrid":[29],"system":[30],"architecture":[31],"to":[32,47],"implement":[33],"decentralized":[35],"control":[36],"and":[37],"coordination":[38],"multiple":[40],"pursuers.":[41],"A":[42],"probabilistic":[43],"framework":[44],"is":[45],"established":[46],"integrate":[48],"process":[52],"with":[53,70,78],"detection.":[55],"Taking":[56],"account":[57],"nonholonomic":[60],"constraints":[61],"vehicles,":[63],"we":[64],"improve":[65],"global-max":[67],"pursuit":[68],"policy":[69],"novel":[72],"underlying":[73],"navigation":[74],"method.":[75],"Experimental":[76],"results":[77],"physical":[79],"demonstrate":[81],"effectiveness":[83],"our":[85],"approach.":[86]},"counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}