{"id":"https://openalex.org/W2172226785","doi":"https://doi.org/10.1109/acc.2011.5991420","title":"Cooperative collision-free control of Lagrangian multi-agent formations","display_name":"Cooperative collision-free control of Lagrangian multi-agent formations","publication_year":2011,"publication_date":"2011-06-01","ids":{"openalex":"https://openalex.org/W2172226785","doi":"https://doi.org/10.1109/acc.2011.5991420","mag":"2172226785"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2011.5991420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2011.5991420","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2011 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/A5050304763","display_name":"G\u00f6khan M. At\u0131n\u00e7","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gokhan M. Atinc","raw_affiliation_strings":["Industrial and Enterprise Systems Engineering Department and the Coordinated Science Laboratory, University of Illinois, Urbana-Champaign, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Industrial and Enterprise Systems Engineering Department and the Coordinated Science Laboratory, University of Illinois, Urbana-Champaign, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046079000","display_name":"Du\u0161an M. Stipanovi\u0107","orcid":"https://orcid.org/0000-0002-2826-5241"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dusan M. Stipanovic","raw_affiliation_strings":["Industrial and Enterprise Systems Engineering Department and the Coordinated Science Laboratory, University of Illinois, Urbana-Champaign, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Industrial and Enterprise Systems Engineering Department and the Coordinated Science Laboratory, University of Illinois, Urbana-Champaign, USA","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":0.3657,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.68020613,"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":"2801","last_page":"2806"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9904000163078308,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T12158","display_name":"Guidance and Control Systems","score":0.989799976348877,"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/lagrangian","display_name":"Lagrangian","score":0.8163458108901978},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7576860189437866},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7132753729820251},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6234702467918396},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5844025015830994},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.5731115341186523},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5598520040512085},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5234848260879517},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5011117458343506},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4822540879249573},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.4534662961959839},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4204957187175751},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.37907105684280396},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31295496225357056},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.2849000096321106},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15278136730194092},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1423141360282898},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13253042101860046},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09666737914085388},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.05951106548309326},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.05440288782119751}],"concepts":[{"id":"https://openalex.org/C53469067","wikidata":"https://www.wikidata.org/wiki/Q505735","display_name":"Lagrangian","level":2,"score":0.8163458108901978},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7576860189437866},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7132753729820251},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6234702467918396},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5844025015830994},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.5731115341186523},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5598520040512085},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5234848260879517},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5011117458343506},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4822540879249573},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.4534662961959839},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4204957187175751},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37907105684280396},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31295496225357056},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.2849000096321106},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15278136730194092},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1423141360282898},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13253042101860046},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09666737914085388},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.05951106548309326},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.05440288782119751},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2011.5991420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2011.5991420","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2011 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":22,"referenced_works":["https://openalex.org/W1970883737","https://openalex.org/W2020632196","https://openalex.org/W2055156993","https://openalex.org/W2059357989","https://openalex.org/W2071146130","https://openalex.org/W2079269385","https://openalex.org/W2090294823","https://openalex.org/W2102266653","https://openalex.org/W2105850748","https://openalex.org/W2116364955","https://openalex.org/W2123357397","https://openalex.org/W2130773594","https://openalex.org/W2137841457","https://openalex.org/W2150220016","https://openalex.org/W2160643434","https://openalex.org/W2165744313","https://openalex.org/W2166344854","https://openalex.org/W2167808181","https://openalex.org/W2174070521","https://openalex.org/W4233979879","https://openalex.org/W6680705375","https://openalex.org/W6682264262"],"related_works":["https://openalex.org/W2038604956","https://openalex.org/W2296560746","https://openalex.org/W2338222801","https://openalex.org/W2347583731","https://openalex.org/W2106602008","https://openalex.org/W2067832159","https://openalex.org/W2153353177","https://openalex.org/W3156121563","https://openalex.org/W2355389557","https://openalex.org/W1605491546"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"address":[4],"the":[5,48,60],"problem":[6],"of":[7,47],"cooperation":[8],"and":[9,32],"collision":[10],"avoidance":[11],"for":[12,29],"multi-agent":[13],"Lagrangian":[14,30],"systems":[15,49],"with":[16,23],"input":[17],"disturbances.":[18],"Two":[19],"different":[20,24],"disturbance":[21],"observers":[22],"stability":[25],"results":[26,64],"are":[27,34,50,65],"used":[28],"systems,":[31],"collisions":[33],"shown":[35,51],"to":[36,52,54],"never":[37],"occur":[38],"in":[39],"both":[40],"cases.":[41],"Then,":[42],"using":[43],"Lyapunov":[44],"techniques,":[45],"states":[46],"converge":[53],"an":[55],"ultimately":[56],"bounded":[57],"region":[58],"around":[59],"master":[61],"agent.":[62],"Theoretical":[63],"illustrated":[66],"through":[67],"simulations.":[68]},"counts_by_year":[{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}