{"id":"https://openalex.org/W2060072381","doi":"https://doi.org/10.1109/acc.2014.6859070","title":"Collective control objective and connectivity preservation for multi-robot systems with bounded input","display_name":"Collective control objective and connectivity preservation for multi-robot systems with bounded input","publication_year":2014,"publication_date":"2014-06-01","ids":{"openalex":"https://openalex.org/W2060072381","doi":"https://doi.org/10.1109/acc.2014.6859070","mag":"2060072381"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2014.6859070","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2014.6859070","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 American Control Conference","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11380/1061283","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046644183","display_name":"Andrea Gasparri","orcid":"https://orcid.org/0000-0001-5765-9736"},"institutions":[{"id":"https://openalex.org/I119003972","display_name":"Roma Tre University","ror":"https://ror.org/05vf0dg29","country_code":"IT","type":"education","lineage":["https://openalex.org/I119003972"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Andrea Gasparri","raw_affiliation_strings":["Department of Engineering, University of \u201cRoma Tre\u201d, Via della Vasca Navale, 79, 00146, Italy","Department of Engineering, University of \u00bfRoma Tre,\u00bf, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of \u201cRoma Tre\u201d, Via della Vasca Navale, 79, 00146, Italy","institution_ids":["https://openalex.org/I119003972"]},{"raw_affiliation_string":"Department of Engineering, University of \u00bfRoma Tre,\u00bf, Rome, Italy","institution_ids":["https://openalex.org/I119003972"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012912163","display_name":"Antonio Leccese","orcid":null},"institutions":[{"id":"https://openalex.org/I119003972","display_name":"Roma Tre University","ror":"https://ror.org/05vf0dg29","country_code":"IT","type":"education","lineage":["https://openalex.org/I119003972"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Leccese","raw_affiliation_strings":["Department of Engineering, University of \u201cRoma Tre\u201d, Via della Vasca Navale, 79, 00146, Italy","Department of Engineering, University of \u00bfRoma Tre,\u00bf, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of \u201cRoma Tre\u201d, Via della Vasca Navale, 79, 00146, Italy","institution_ids":["https://openalex.org/I119003972"]},{"raw_affiliation_string":"Department of Engineering, University of \u00bfRoma Tre,\u00bf, Rome, Italy","institution_ids":["https://openalex.org/I119003972"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046246429","display_name":"Lorenzo Sabattini","orcid":"https://orcid.org/0000-0002-2734-5549"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Sabattini","raw_affiliation_strings":["Universita degli Studi di Modena e Reggio Emilia, Modena, Emilia-Romagna, IT","Dept. of Sci. & Methods for Eng. (DISMI), Univ. of Modena & Reggio Emilia, Modena, Italy"],"affiliations":[{"raw_affiliation_string":"Universita degli Studi di Modena e Reggio Emilia, Modena, Emilia-Romagna, IT","institution_ids":["https://openalex.org/I122346577"]},{"raw_affiliation_string":"Dept. of Sci. & Methods for Eng. (DISMI), Univ. of Modena & Reggio Emilia, Modena, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049225259","display_name":"Giovanni Ulivi","orcid":"https://orcid.org/0000-0001-6471-3761"},"institutions":[{"id":"https://openalex.org/I119003972","display_name":"Roma Tre University","ror":"https://ror.org/05vf0dg29","country_code":"IT","type":"education","lineage":["https://openalex.org/I119003972"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giovanni Ulivi","raw_affiliation_strings":["Department of Engineering, University of \u201cRoma Tre\u201d, Via della Vasca Navale, 79, 00146, Italy","Department of Engineering, University of \u00bfRoma Tre,\u00bf, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of \u201cRoma Tre\u201d, Via della Vasca Navale, 79, 00146, Italy","institution_ids":["https://openalex.org/I119003972"]},{"raw_affiliation_string":"Department of Engineering, University of \u00bfRoma Tre,\u00bf, Rome, Italy","institution_ids":["https://openalex.org/I119003972"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5046644183"],"corresponding_institution_ids":["https://openalex.org/I119003972"],"apc_list":null,"apc_paid":null,"fwci":0.7238,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.75925365,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"813","last_page":"818"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9865999817848206,"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/T11498","display_name":"Security in Wireless Sensor Networks","score":0.9732999801635742,"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/bounded-function","display_name":"Bounded function","score":0.7844524383544922},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6982747912406921},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6647248268127441},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5915836095809937},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5138443112373352},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4686630964279175},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4550609588623047},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4524215757846832},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4281631112098694},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4094398617744446},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.34545665979385376},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3203921318054199},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21323168277740479},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19157138466835022},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17241299152374268}],"concepts":[{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.7844524383544922},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6982747912406921},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6647248268127441},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5915836095809937},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5138443112373352},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4686630964279175},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4550609588623047},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4524215757846832},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4281631112098694},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4094398617744446},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.34545665979385376},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3203921318054199},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21323168277740479},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19157138466835022},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17241299152374268},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/acc.2014.6859070","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2014.6859070","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 American Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unimore.it:11380/1061283","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/1061283","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:iris.uniroma3.it:11590/187834","is_oa":false,"landing_page_url":"http://hdl.handle.net/11590/187834","pdf_url":null,"source":{"id":"https://openalex.org/S4377196120","display_name":"Iris (Roma Tre University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I119003972","host_organization_name":"Roma Tre University","host_organization_lineage":["https://openalex.org/I119003972"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:iris.unimore.it:11380/1061283","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/1061283","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1555447860","https://openalex.org/W1587744656","https://openalex.org/W1597912403","https://openalex.org/W1788292158","https://openalex.org/W1911030307","https://openalex.org/W1974676331","https://openalex.org/W1993693205","https://openalex.org/W2022288764","https://openalex.org/W2033168138","https://openalex.org/W2040298974","https://openalex.org/W2041154391","https://openalex.org/W2056902390","https://openalex.org/W2063801303","https://openalex.org/W2071262178","https://openalex.org/W2107723135","https://openalex.org/W2108556117","https://openalex.org/W2111972027","https://openalex.org/W2141327408","https://openalex.org/W2151136609","https://openalex.org/W2165626406","https://openalex.org/W2326653536","https://openalex.org/W2644060477","https://openalex.org/W2957845881","https://openalex.org/W3111524173","https://openalex.org/W4237547405","https://openalex.org/W4301621763","https://openalex.org/W6635776367","https://openalex.org/W6668349250","https://openalex.org/W6739942629"],"related_works":["https://openalex.org/W3013085049","https://openalex.org/W1560496689","https://openalex.org/W1992739770","https://openalex.org/W4386900933","https://openalex.org/W2770593030","https://openalex.org/W3154990682","https://openalex.org/W4229058035","https://openalex.org/W2560201613","https://openalex.org/W196429367","https://openalex.org/W1980376593"],"abstract_inverted_index":{"In":[0,24],"this":[1,47],"work,":[2],"we":[3,49,78,126],"address":[4],"the":[5,27,30,59,62,69,80,83,88,97,102,105,110,117,120,128,143],"connectivity":[6,60,84,123],"maintenance":[7],"problem":[8,130],"for":[9],"a":[10,19,35,51],"team":[11],"of":[12,42,61,71,82,94,96,104,119,134],"mobile":[13],"robots":[14,31],"which":[15,55],"move":[16],"according":[17],"to":[18,101,109,141],"given":[20,36],"collective":[21,89,135],"control":[22,53,75,85,90,99,124,136],"objective.":[23,76,137],"our":[25],"framework,":[26],"interaction":[28],"among":[29],"is":[32],"limited":[33],"by":[34,107],"visibility":[37],"radius":[38],"both":[39],"in":[40,68,92],"terms":[41,93],"sensing":[43],"and":[44],"communication.":[45],"For":[46,116],"scenario,":[48],"propose":[50],"bounded":[52,74,122],"law":[54,125],"can":[56],"provably":[57],"preserve":[58],"multi-robot":[63],"system":[64],"over":[65],"time":[66],"even":[67],"presence":[70],"any":[72],"desired":[73,98],"Furthermore,":[77],"characterize":[79],"effects":[81],"term":[86],"on":[87],"objective,":[91],"robustness":[95],"objective":[100],"disturbance":[103],"connectivity,":[106],"resorting":[108],"set":[111],"Input-to-State":[112],"Stability":[113],"framework":[114],"(set-ISS).":[115],"validation":[118],"proposed":[121],"consider":[127],"encirclement":[129],"as":[131],"an":[132],"example":[133],"Simulations":[138],"are":[139],"provided":[140],"corroborate":[142],"theoretical":[144],"results.":[145]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}