{"id":"https://openalex.org/W2062200697","doi":"https://doi.org/10.1109/acc.2013.6579964","title":"A smooth hybrid symbolic control for the formation of UAVs over a partitioned space","display_name":"A smooth hybrid symbolic control for the formation of UAVs over a partitioned space","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W2062200697","doi":"https://doi.org/10.1109/acc.2013.6579964","mag":"2062200697"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2013.6579964","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6579964","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5082128797","display_name":"Ali Karimoddini","orcid":"https://orcid.org/0000-0001-6084-6831"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ali Karimoddini","raw_affiliation_strings":["University of Notre Dame, Notre Dame, IN, US","[Dept. of Electr. Eng., Univ. of Notre Dame, Notre Dame, IN, USA]"],"affiliations":[{"raw_affiliation_string":"University of Notre Dame, Notre Dame, IN, US","institution_ids":["https://openalex.org/I107639228"]},{"raw_affiliation_string":"[Dept. of Electr. Eng., Univ. of Notre Dame, Notre Dame, IN, USA]","institution_ids":["https://openalex.org/I107639228"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045445273","display_name":"Hai Lin","orcid":"https://orcid.org/0000-0002-5242-2366"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hai Lin","raw_affiliation_strings":["Department of Electrical Engineering, University of Notre Dame, Notre Dame, USA","[Dept. of Electr. Eng., Univ. of Notre Dame, Notre Dame, IN, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Notre Dame, Notre Dame, USA","institution_ids":["https://openalex.org/I107639228"]},{"raw_affiliation_string":"[Dept. of Electr. Eng., Univ. of Notre Dame, Notre Dame, IN, USA]","institution_ids":["https://openalex.org/I107639228"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100428803","display_name":"Ben M. Chen","orcid":"https://orcid.org/0000-0002-3839-5787"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ben M. Chen","raw_affiliation_strings":["Graduate School for Integrative Sciences and Engineering (NGS) and the Department of Electrical and Computer Engineering(ECE), National University of Singapore, Singapore","Grad. Sch. for Integrative Sci. & Eng. (NGS), Nat. Univ. of Singapore, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Graduate School for Integrative Sciences and Engineering (NGS) and the Department of Electrical and Computer Engineering(ECE), National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Grad. Sch. for Integrative Sci. & Eng. (NGS), Nat. Univ. of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":null,"display_name":"Tong Heng Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Tong Heng Lee","raw_affiliation_strings":["Graduate School for Integrative Sciences and Engineering (NGS) and the Department of Electrical and Computer Engineering(ECE), National University of Singapore, Singapore","Grad. Sch. for Integrative Sci. & Eng. (NGS), Nat. Univ. of Singapore, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Graduate School for Integrative Sciences and Engineering (NGS) and the Department of Electrical and Computer Engineering(ECE), National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Grad. Sch. for Integrative Sci. & Eng. (NGS), Nat. Univ. of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5082128797"],"corresponding_institution_ids":["https://openalex.org/I107639228"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.14931008,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"982","last_page":"987"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/supervisor","display_name":"Supervisor","score":0.7925055027008057},{"id":"https://openalex.org/keywords/jump","display_name":"Jump","score":0.6402300000190735},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.6359716653823853},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6231923699378967},{"id":"https://openalex.org/keywords/bisimulation","display_name":"Bisimulation","score":0.5668609738349915},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.565426230430603},{"id":"https://openalex.org/keywords/supervisory-control","display_name":"Supervisory control","score":0.5488041043281555},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4945370852947235},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.47454866766929626},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.473141074180603},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4493553638458252},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44692254066467285},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.44498729705810547},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.43698498606681824},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4357397258281708},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2268998622894287},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19057539105415344},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16329818964004517},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.16128912568092346}],"concepts":[{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.7925055027008057},{"id":"https://openalex.org/C2780695682","wikidata":"https://www.wikidata.org/wiki/Q4005959","display_name":"Jump","level":2,"score":0.6402300000190735},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.6359716653823853},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6231923699378967},{"id":"https://openalex.org/C135315306","wikidata":"https://www.wikidata.org/wiki/Q866364","display_name":"Bisimulation","level":2,"score":0.5668609738349915},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.565426230430603},{"id":"https://openalex.org/C92991967","wikidata":"https://www.wikidata.org/wiki/Q7644329","display_name":"Supervisory control","level":3,"score":0.5488041043281555},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4945370852947235},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.47454866766929626},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.473141074180603},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4493553638458252},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44692254066467285},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.44498729705810547},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.43698498606681824},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4357397258281708},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2268998622894287},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19057539105415344},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16329818964004517},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.16128912568092346},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/acc.2013.6579964","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6579964","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 American Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/69079","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/69079","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1483893502","https://openalex.org/W1499501299","https://openalex.org/W1574178670","https://openalex.org/W1986458039","https://openalex.org/W2011946889","https://openalex.org/W2015886329","https://openalex.org/W2017885060","https://openalex.org/W2030674338","https://openalex.org/W2059057465","https://openalex.org/W2073144514","https://openalex.org/W2080084155","https://openalex.org/W2086175709","https://openalex.org/W2113709569","https://openalex.org/W2115042355","https://openalex.org/W2121652288","https://openalex.org/W2134266794","https://openalex.org/W2159411986","https://openalex.org/W2487779201","https://openalex.org/W3140260058","https://openalex.org/W6678332201"],"related_works":["https://openalex.org/W46796605","https://openalex.org/W1536962364","https://openalex.org/W2333630979","https://openalex.org/W2325169597","https://openalex.org/W4309988904","https://openalex.org/W1502177156","https://openalex.org/W1964497242","https://openalex.org/W2331919730","https://openalex.org/W1966453684","https://openalex.org/W4317418604"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"and":[3,80,109,124],"implements":[4],"a":[5,31,45,53,81],"smooth":[6],"hybrid":[7],"supervisory":[8],"control":[9,47,82,98,126],"mechanism":[10,83],"for":[11,35],"the":[12,26,36,57,64,75,90,97,102,106,110,122,125],"formation":[13],"of":[14,39,74],"unmanned":[15],"helicopters.":[16],"A":[17],"polar":[18],"partitioning":[19],"scheme":[20],"is":[21,49,61,84],"utilized":[22],"to":[23,29,63,86,120],"bisimilarly":[24],"abstract":[25,107],"motion":[27,37],"space":[28,92],"find":[30],"finite":[32],"state":[33],"model":[34,108],"dynamics":[38],"UAVs.":[40],"To":[41],"implement":[42],"this":[43],"algorithm,":[44],"hierarchical":[46],"structure":[48,127],"introduced":[50,85],"which":[51],"uses":[52],"discrete":[54],"supervisor":[55],"on":[56,96],"top":[58],"layer":[59,66],"that":[60],"connected":[62],"regulation":[65],"via":[67],"an":[68],"interface":[69],"layer.":[70],"The":[71],"implantation":[72],"issues":[73],"proposed":[76],"algorithm":[77,123],"are":[78,118],"investigated":[79],"smoothly":[87],"transit":[88],"over":[89],"partitioned":[91],"without":[93],"any":[94],"jump":[95],"signals":[99],"while":[100],"preserving":[101],"bisimulation":[103],"relation":[104],"between":[105],"original":[111],"continuous":[112],"system.":[113],"Actual":[114],"flight":[115],"test":[116],"results":[117],"presented":[119],"verify":[121],"performance.":[128]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}