{"id":"https://openalex.org/W2500405105","doi":"https://doi.org/10.1109/acc.2016.7526679","title":"Consensus of autonomous underactuated surface vessels","display_name":"Consensus of autonomous underactuated surface vessels","publication_year":2016,"publication_date":"2016-07-01","ids":{"openalex":"https://openalex.org/W2500405105","doi":"https://doi.org/10.1109/acc.2016.7526679","mag":"2500405105"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2016.7526679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2016.7526679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 American Control Conference (ACC)","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/A5042616885","display_name":"Morteza Mirzaei","orcid":"https://orcid.org/0000-0001-5568-2422"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Morteza Mirzaei","raw_affiliation_strings":["Department of Electrical Engineering, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042263160","display_name":"Farzaneh Abdollahi","orcid":"https://orcid.org/0000-0003-4957-987X"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]},{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA","IR"],"is_corresponding":false,"raw_author_name":"Farzaneh Abdollahi","raw_affiliation_strings":["Concordia University","Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Concordia University","institution_ids":["https://openalex.org/I60158472"]},{"raw_affiliation_string":"Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054285669","display_name":"Nader Meskin","orcid":"https://orcid.org/0000-0003-3098-9369"},"institutions":[{"id":"https://openalex.org/I60342839","display_name":"Qatar University","ror":"https://ror.org/00yhnba62","country_code":"QA","type":"education","lineage":["https://openalex.org/I60342839"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Nader Meskin","raw_affiliation_strings":["Department of Electrical Engineering, Qatar university, Doha, Qatar"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Qatar university, Doha, Qatar","institution_ids":["https://openalex.org/I60342839"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5042616885"],"corresponding_institution_ids":["https://openalex.org/I158248296"],"apc_list":null,"apc_paid":null,"fwci":0.2895,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.62617225,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"42","issue":null,"first_page":"6417","last_page":"6422"},"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":0.9955000281333923,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9919999837875366,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.9260363578796387},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.7874337434768677},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7490678429603577},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6733019948005676},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5845463275909424},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.576702356338501},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5571380853652954},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5384206175804138},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5352981686592102},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5117318630218506},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4727034568786621},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.47029706835746765},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4685066044330597},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.46361762285232544},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30636876821517944},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2499655783176422},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1719622015953064},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1265379786491394},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11436548829078674},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09127041697502136}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9260363578796387},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.7874337434768677},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7490678429603577},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6733019948005676},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5845463275909424},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.576702356338501},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5571380853652954},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5384206175804138},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5352981686592102},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5117318630218506},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4727034568786621},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.47029706835746765},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4685066044330597},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.46361762285232544},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30636876821517944},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2499655783176422},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1719622015953064},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1265379786491394},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11436548829078674},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09127041697502136},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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.2016.7526679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2016.7526679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7099999785423279,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W587013945","https://openalex.org/W1590684588","https://openalex.org/W1630241696","https://openalex.org/W1971044547","https://openalex.org/W1988837728","https://openalex.org/W2003432214","https://openalex.org/W2009985114","https://openalex.org/W2012812921","https://openalex.org/W2042943502","https://openalex.org/W2050214869","https://openalex.org/W2062063134","https://openalex.org/W2062736827","https://openalex.org/W2067359191","https://openalex.org/W2068101509","https://openalex.org/W2072694395","https://openalex.org/W2107396783","https://openalex.org/W2140380216","https://openalex.org/W2146445863","https://openalex.org/W2166103243","https://openalex.org/W2167677395","https://openalex.org/W2170539845","https://openalex.org/W2484117929","https://openalex.org/W6635423901","https://openalex.org/W6642962755","https://openalex.org/W6667216034","https://openalex.org/W6667907496","https://openalex.org/W7074647447"],"related_works":["https://openalex.org/W2153719181","https://openalex.org/W587013945","https://openalex.org/W1971748923","https://openalex.org/W1566155057","https://openalex.org/W2060986072","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,21,42,61],"concerned":[3],"with":[4,31],"the":[5,15,18,24,32,46,49,65,73,81,84],"distributed":[6],"consensus":[7],"problem":[8],"of":[9,17,27,34,48,68,83],"multiple":[10],"underactuated":[11],"surface":[12],"vessels,":[13],"where":[14],"number":[16],"vehicles":[19,25,74],"actuators":[20],"fewer":[22],"than":[23],"degrees":[26],"freedom.":[28],"To":[29,79],"cope":[30],"coupling":[33],"unactuated":[35],"and":[36,56],"actuated":[37],"states,":[38],"a":[39,52,77],"state":[40],"transformation":[41],"proposed":[43,85],"to":[44,51,71,75],"change":[45],"format":[47],"system":[50],"cascade":[53,69],"nonlinear":[54],"system,":[55],"an":[57],"appropriate":[58],"switching":[59],"controller":[60],"designed":[62],"based":[63],"on":[64],"stability":[66],"properties":[67],"systems":[70],"make":[72],"reach":[76],"consensus.":[78],"illustrate":[80],"performance":[82],"approach,":[86],"simulation":[87],"results":[88],"are":[89],"provided.":[90]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}