{"id":"https://openalex.org/W2973316093","doi":"https://doi.org/10.1109/access.2019.2942642","title":"Distributed Multi-Robot Formation Control Based on Bipartite Consensus With Time-Varying Delays","display_name":"Distributed Multi-Robot Formation Control Based on Bipartite Consensus With Time-Varying Delays","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2973316093","doi":"https://doi.org/10.1109/access.2019.2942642","mag":"2973316093"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2942642","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2942642","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08845660.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/ielx7/6287639/8600701/08845660.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101964779","display_name":"Chengguo Zong","orcid":"https://orcid.org/0000-0003-1806-9404"},"institutions":[{"id":"https://openalex.org/I80143920","display_name":"Shandong University of Science and Technology","ror":"https://ror.org/04gtjhw98","country_code":"CN","type":"education","lineage":["https://openalex.org/I80143920"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengguo Zong","raw_affiliation_strings":["College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, China"],"raw_orcid":"https://orcid.org/0000-0003-1806-9404","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, China","institution_ids":["https://openalex.org/I80143920"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063831056","display_name":"Zhijian Ji","orcid":"https://orcid.org/0000-0002-9666-2572"},"institutions":[{"id":"https://openalex.org/I108688024","display_name":"Qingdao University","ror":"https://ror.org/021cj6z65","country_code":"CN","type":"education","lineage":["https://openalex.org/I108688024"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijian Ji","raw_affiliation_strings":["College of Automation, Institute of Complexity Science, Qingdao University, Qingdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation, Institute of Complexity Science, Qingdao University, Qingdao, China","institution_ids":["https://openalex.org/I108688024"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065095072","display_name":"Lei Tian","orcid":"https://orcid.org/0000-0002-0727-7446"},"institutions":[{"id":"https://openalex.org/I108688024","display_name":"Qingdao University","ror":"https://ror.org/021cj6z65","country_code":"CN","type":"education","lineage":["https://openalex.org/I108688024"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Tian","raw_affiliation_strings":["School of Mathematics and Statistics, Qingdao University, Qingdao, China"],"raw_orcid":"https://orcid.org/0000-0002-0727-7446","affiliations":[{"raw_affiliation_string":"School of Mathematics and Statistics, Qingdao University, Qingdao, China","institution_ids":["https://openalex.org/I108688024"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100326592","display_name":"Yuan Zhang","orcid":"https://orcid.org/0000-0003-2726-2855"},"institutions":[{"id":"https://openalex.org/I80143920","display_name":"Shandong University of Science and Technology","ror":"https://ror.org/04gtjhw98","country_code":"CN","type":"education","lineage":["https://openalex.org/I80143920"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Zhang","raw_affiliation_strings":["College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, China","institution_ids":["https://openalex.org/I80143920"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.5331,"has_fulltext":true,"cited_by_count":33,"citation_normalized_percentile":{"value":0.93517087,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"144790","last_page":"144798"},"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/T11498","display_name":"Security in Wireless Sensor Networks","score":0.9836999773979187,"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/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.9735000133514404,"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/bipartite-graph","display_name":"Bipartite graph","score":0.9379156231880188},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.677387535572052},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.6638705134391785},{"id":"https://openalex.org/keywords/consensus","display_name":"Consensus","score":0.6049137115478516},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5455498099327087},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4484887719154358},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4348306357860565},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2969932556152344},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.26372218132019043},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14152327179908752}],"concepts":[{"id":"https://openalex.org/C197657726","wikidata":"https://www.wikidata.org/wiki/Q174733","display_name":"Bipartite graph","level":3,"score":0.9379156231880188},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.677387535572052},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.6638705134391785},{"id":"https://openalex.org/C107107730","wikidata":"https://www.wikidata.org/wiki/Q2994424","display_name":"Consensus","level":3,"score":0.6049137115478516},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5455498099327087},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4484887719154358},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4348306357860565},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2969932556152344},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.26372218132019043},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14152327179908752},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2942642","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2942642","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08845660.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:0576236483a94ded83df3efd6f974d69","is_oa":true,"landing_page_url":"https://doaj.org/article/0576236483a94ded83df3efd6f974d69","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 144790-144798 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2942642","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2942642","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08845660.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/G3193398421","display_name":null,"funder_award_id":"JQ201419","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G3685445217","display_name":null,"funder_award_id":"61873136","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4268911008","display_name":null,"funder_award_id":"ZR201709260010","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G6919317117","display_name":null,"funder_award_id":"JQ201419","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7950927669","display_name":"\u591a\u667a\u80fd\u4f53\u7f51\u7edc\u7cfb\u7edf\u7684\u80fd\u63a7\u6027\u7814\u7a76","funder_award_id":"61374062","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8319193820","display_name":null,"funder_award_id":"61603288","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8914311256","display_name":null,"funder_award_id":"ZR201709260010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2973316093.pdf","grobid_xml":"https://content.openalex.org/works/W2973316093.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W645937136","https://openalex.org/W1506292992","https://openalex.org/W1525454997","https://openalex.org/W1967509640","https://openalex.org/W1970613448","https://openalex.org/W1971437405","https://openalex.org/W1985923877","https://openalex.org/W1993966710","https://openalex.org/W2003446910","https://openalex.org/W2005389191","https://openalex.org/W2009731717","https://openalex.org/W2030856696","https://openalex.org/W2036571133","https://openalex.org/W2039533720","https://openalex.org/W2052089350","https://openalex.org/W2057410971","https://openalex.org/W2057996828","https://openalex.org/W2092360189","https://openalex.org/W2098748755","https://openalex.org/W2099175737","https://openalex.org/W2099223225","https://openalex.org/W2103759346","https://openalex.org/W2106343161","https://openalex.org/W2107396783","https://openalex.org/W2149559996","https://openalex.org/W2467555120","https://openalex.org/W2511127296","https://openalex.org/W2514128556","https://openalex.org/W2530794077","https://openalex.org/W2582592812","https://openalex.org/W2605841925","https://openalex.org/W2620840602","https://openalex.org/W2729674125","https://openalex.org/W2762132815","https://openalex.org/W2789372517","https://openalex.org/W2883383381","https://openalex.org/W2888151111","https://openalex.org/W2904413495"],"related_works":["https://openalex.org/W2371352078","https://openalex.org/W2766006709","https://openalex.org/W2090870188","https://openalex.org/W2782532368","https://openalex.org/W2996939932","https://openalex.org/W2292530372","https://openalex.org/W2788667445","https://openalex.org/W3046732854","https://openalex.org/W4386821021","https://openalex.org/W2020925319"],"abstract_inverted_index":{"A":[0],"distributed":[1],"formation":[2,72,102],"control":[3,73],"scheme":[4],"of":[5,46,107,116],"multi-robot":[6,71,101],"systems":[7],"for":[8,42],"bipartite":[9,20,31,44,64,85,92],"consensus":[10,21,32,45,65,86,93],"under":[11,23,95],"communication":[12,24,76,96],"delays":[13,25,77,97],"is":[14,26,39,66,78,98],"presented":[15,41],"in":[16],"this":[17,117],"paper.":[18],"The":[19],"protocol":[22,74,94],"first":[27],"proposed.":[28,67],"Under":[29],"the":[30,47,53,63,83,91,113],"protocol,":[33],"a":[34,57,69,105],"necessary":[35],"and":[36],"sufficient":[37,58],"condition":[38,59],"then":[40],"achieving":[43],"multi-agent":[48],"system":[49,54],"without":[50],"time-delays.":[51],"For":[52],"with":[55,75],"time-delays,":[56],"to":[60,82,100,111],"asymptotically":[61],"achieve":[62],"Furthermore,":[68],"universal":[70],"put":[79],"forward":[80],"according":[81],"given":[84],"protocol.":[87],"As":[88],"an":[89],"example,":[90],"applied":[99],"control.":[103],"Finally,":[104],"number":[106],"simulations":[108],"are":[109],"proposed":[110],"demonstrate":[112],"theoretical":[114],"contributions":[115],"work.":[118]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
