{"id":"https://openalex.org/W2968337838","doi":"https://doi.org/10.1109/access.2019.2934746","title":"Hierarchical Formation Control With Applications to Multi-Quadrotor Systems","display_name":"Hierarchical Formation Control With Applications to Multi-Quadrotor Systems","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2968337838","doi":"https://doi.org/10.1109/access.2019.2934746","mag":"2968337838"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2934746","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2934746","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08794808.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08794808.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101502470","display_name":"Dawei Shen","orcid":"https://orcid.org/0000-0003-4607-4980"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dawei Shen","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-4607-4980","affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037748023","display_name":"Qiang Lu","orcid":"https://orcid.org/0000-0002-1586-5598"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Lu","raw_affiliation_strings":["Engineering Research Center of Ministry of Education for Measuring Instruments and Integrated Technology of Automation Systems, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Ministry of Education for Measuring Instruments and Integrated Technology of Automation Systems, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I50760025"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.9297,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.7791439,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"7","issue":null,"first_page":"130599","last_page":"130609"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9973999857902527,"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":0.9927999973297119,"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/computer-science","display_name":"Computer science","score":0.6317536234855652},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.42137837409973145},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41701364517211914},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21396684646606445},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12954267859458923}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6317536234855652},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.42137837409973145},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41701364517211914},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21396684646606445},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12954267859458923},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2934746","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2934746","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08794808.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:b84c1bf8cf6a46479fa7cb00868499ce","is_oa":true,"landing_page_url":"https://doaj.org/article/b84c1bf8cf6a46479fa7cb00868499ce","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 130599-130609 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2934746","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2934746","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08794808.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1500589456","display_name":null,"funder_award_id":"LY18F030008","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3424167220","display_name":null,"funder_award_id":"LY18F030008","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"},{"id":"https://openalex.org/G369061595","display_name":null,"funder_award_id":"61375104","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4291734321","display_name":null,"funder_award_id":"61375104","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"},{"id":"https://openalex.org/G7225137684","display_name":null,"funder_award_id":"2018A610192","funder_id":"https://openalex.org/F4320332587","funder_display_name":"Natural Science Foundation of Ningbo"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320332587","display_name":"Natural Science Foundation of Ningbo","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2968337838.pdf","grobid_xml":"https://content.openalex.org/works/W2968337838.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W1499913502","https://openalex.org/W1548788192","https://openalex.org/W1975541135","https://openalex.org/W1982131159","https://openalex.org/W1982469113","https://openalex.org/W1982947074","https://openalex.org/W1986302906","https://openalex.org/W2035625658","https://openalex.org/W2064460517","https://openalex.org/W2067359191","https://openalex.org/W2092011920","https://openalex.org/W2095396075","https://openalex.org/W2111366290","https://openalex.org/W2158503284","https://openalex.org/W2166833517","https://openalex.org/W2278520988","https://openalex.org/W2294622247","https://openalex.org/W2342166106","https://openalex.org/W2342740524","https://openalex.org/W2343497731","https://openalex.org/W2509792696","https://openalex.org/W2511341707","https://openalex.org/W2622287508","https://openalex.org/W2779675674","https://openalex.org/W2781649869","https://openalex.org/W2791142925","https://openalex.org/W2795613806","https://openalex.org/W2900931536","https://openalex.org/W2916453681","https://openalex.org/W2943880805","https://openalex.org/W2946497559","https://openalex.org/W3013359027","https://openalex.org/W6674346099","https://openalex.org/W6684294107","https://openalex.org/W6704381406","https://openalex.org/W6775317697"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2350741829","https://openalex.org/W2355865573","https://openalex.org/W2155981143","https://openalex.org/W2155245395"],"abstract_inverted_index":{"A":[0],"hierarchical":[1],"formation":[2,10,95,134],"control":[3,11,24,29,34,67,104,109],"framework":[4,20],"is":[5,56,62,141],"proposed":[6,19],"to":[7],"study":[8],"the":[9,14,32,36,40,47,53,65,69,73,77,81,93,98,128,133,137],"problem":[12],"for":[13],"leader-follower":[15],"multi-quadrotor":[16],"systems.":[17],"The":[18,114],"includes":[21],"a":[22,27,87,102,107,124],"coordinating":[23,33,103],"level":[25],"and":[26,39,58,72,80,97,106,118,123,136],"tracking":[28,66,108],"level.":[30],"On":[31,64],"level,":[35,68],"virtual":[37,41,54,59,78,82],"position":[38,71,79],"velocity":[42,60,75,99,139],"are":[43,111],"obtained":[44],"based":[45],"on":[46],"finite-time":[48],"consensus":[49,61,140],"theory":[50],"such":[51,85],"that":[52,86,127],"shape":[55,96,135],"formed":[57],"reached.":[63],"real":[70,74],"track":[76],"velocity,":[83],"respectively,":[84],"number":[88],"of":[89,116],"quadrotors":[90,122,129],"can":[91,130],"reach":[92],"desired":[94],"consensus.":[100],"Consequently,":[101],"algorithm":[105,110],"designed,":[112],"respectively.":[113],"results":[115],"simulations":[117],"experiments":[119],"employing":[120],"three":[121],"leader":[125],"demonstrate":[126],"quickly":[131],"complete":[132],"corresponding":[138],"arrived.":[142]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}