{"id":"https://openalex.org/W4312899383","doi":"https://doi.org/10.1109/access.2022.3219453","title":"Coordination of a Swarm of Unicycle Robots via First-Order Dynamic Couplings","display_name":"Coordination of a Swarm of Unicycle Robots via First-Order Dynamic Couplings","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4312899383","doi":"https://doi.org/10.1109/access.2022.3219453"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3219453","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3219453","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09938997.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":null,"license_id":null,"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/ielx7/6287639/6514899/09938997.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059268465","display_name":"I. Ruiz-Ramos","orcid":"https://orcid.org/0000-0002-6492-8559"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"I. Ruiz-Ramos","raw_affiliation_strings":["Robotics and Advanced Manufacturing Program, CINVESTAV, Saltillo, Coahuila CO, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-6492-8559","affiliations":[{"raw_affiliation_string":"Robotics and Advanced Manufacturing Program, CINVESTAV, Saltillo, Coahuila CO, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016754425","display_name":"Am\u00e9rica Berenice Morales-D\u00edaz","orcid":"https://orcid.org/0000-0003-1450-3664"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"A. Morales","raw_affiliation_strings":["Robotics and Advanced Manufacturing Program, CINVESTAV, Saltillo, Coahuila CO, Mexico"],"raw_orcid":"https://orcid.org/0000-0003-1450-3664","affiliations":[{"raw_affiliation_string":"Robotics and Advanced Manufacturing Program, CINVESTAV, Saltillo, Coahuila CO, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041221232","display_name":"Jonat\u00e1n Pe\u00f1a Ram\u00edrez","orcid":"https://orcid.org/0000-0001-8453-6694"},"institutions":[{"id":"https://openalex.org/I64663401","display_name":"Centro de Investigaci\u00f3n Cient\u00edfica y de Educaci\u00f3n Superior de Ensenada","ror":"https://ror.org/04znhwb73","country_code":"MX","type":"facility","lineage":["https://openalex.org/I64663401"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"J. Pena Ramirez","raw_affiliation_strings":["Center for Scientific Research and Higher Education at Ensenada (CICESE), Ensenada, BC, Mexico","Center for Scientific Research and Higher Education at Ensenada (CICESE), Ensenada, B.C., Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Scientific Research and Higher Education at Ensenada (CICESE), Ensenada, BC, Mexico","institution_ids":["https://openalex.org/I64663401"]},{"raw_affiliation_string":"Center for Scientific Research and Higher Education at Ensenada (CICESE), Ensenada, B.C., Mexico","institution_ids":["https://openalex.org/I64663401"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"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":0.1336,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.48746587,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"10","issue":null,"first_page":"116784","last_page":"116795"},"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/T10482","display_name":"Mathematical and Theoretical Epidemiology and Ecology Models","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.9968000054359436,"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/control-theory","display_name":"Control theory (sociology)","score":0.7625597715377808},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6990195512771606},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5571082234382629},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5536375045776367},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.5429413914680481},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5412904620170593},{"id":"https://openalex.org/keywords/overshoot","display_name":"Overshoot (microwave communication)","score":0.5249326825141907},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5002384185791016},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4557454586029053},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.454928994178772},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4516911506652832},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4294062554836273},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.41076943278312683},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3321654796600342},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.222335547208786},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1742030382156372},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13424265384674072},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11632025241851807}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7625597715377808},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6990195512771606},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5571082234382629},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5536375045776367},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.5429413914680481},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5412904620170593},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.5249326825141907},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5002384185791016},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4557454586029053},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.454928994178772},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4516911506652832},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4294062554836273},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.41076943278312683},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3321654796600342},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.222335547208786},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1742030382156372},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13424265384674072},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11632025241851807},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2022.3219453","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3219453","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09938997.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:d2bb0618d58542c487a3039cdc632b0d","is_oa":true,"landing_page_url":"https://doaj.org/article/d2bb0618d58542c487a3039cdc632b0d","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 10, Pp 116784-116795 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3219453","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3219453","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09938997.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8899999856948853}],"awards":[{"id":"https://openalex.org/G1057214523","display_name":null,"funder_award_id":"A1-S-26123","funder_id":"https://openalex.org/F4320321739","funder_display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda"},{"id":"https://openalex.org/G6958583472","display_name":null,"funder_award_id":"A1-S-","funder_id":"https://openalex.org/F4320321739","funder_display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda"}],"funders":[{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4312899383.pdf","grobid_xml":"https://content.openalex.org/works/W4312899383.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W950991549","https://openalex.org/W1517023801","https://openalex.org/W1541125785","https://openalex.org/W2012812921","https://openalex.org/W2071769030","https://openalex.org/W2125402595","https://openalex.org/W2132696685","https://openalex.org/W2157614425","https://openalex.org/W2166103243","https://openalex.org/W2323842480","https://openalex.org/W2397041154","https://openalex.org/W2597542486","https://openalex.org/W2604751418","https://openalex.org/W2612018426","https://openalex.org/W2762132815","https://openalex.org/W2794441464","https://openalex.org/W2802166347","https://openalex.org/W2807653263","https://openalex.org/W2883700980","https://openalex.org/W2888151111","https://openalex.org/W2908183558","https://openalex.org/W2921197356","https://openalex.org/W2945446708","https://openalex.org/W2946718446","https://openalex.org/W2947371688","https://openalex.org/W2964789862","https://openalex.org/W2971784355","https://openalex.org/W2995105832","https://openalex.org/W2999306835","https://openalex.org/W3005663279","https://openalex.org/W3011108628","https://openalex.org/W3027262760","https://openalex.org/W3042588692","https://openalex.org/W3080438499","https://openalex.org/W3088891568","https://openalex.org/W3091049962","https://openalex.org/W3106812357","https://openalex.org/W3111232021","https://openalex.org/W3118402763","https://openalex.org/W3126119469","https://openalex.org/W3154848395","https://openalex.org/W3158178853","https://openalex.org/W3172143820","https://openalex.org/W3197007697","https://openalex.org/W4283704716"],"related_works":["https://openalex.org/W2540667912","https://openalex.org/W1971393305","https://openalex.org/W3098904880","https://openalex.org/W2132872602","https://openalex.org/W2995199523","https://openalex.org/W2084872199","https://openalex.org/W2892024203","https://openalex.org/W2534107666","https://openalex.org/W2117933783","https://openalex.org/W2560479139"],"abstract_inverted_index":{"Coordination":[0],"of":[1,53,60,84,123,152,186],"multi-agent":[2,19],"systems":[3],"is":[4,28,70,87,107,127,165,171],"an":[5,92],"active":[6],"and":[7,77,135,145,191],"ongoing":[8],"research":[9],"topic.":[10],"In":[11,40],"particular,":[12],"there":[13],"exist":[14],"several":[15],"coordination":[16,47,158],"strategies":[17],"for":[18],"systems,":[20],"in":[21,161],"which":[22,49,164],"the":[23,26,51,95,99,110,124,132,136,153,162,177,187,195],"interaction":[24],"between":[25],"agents":[27],"via":[29],"static":[30,38,119,169],"couplings,":[31],"i.e.":[32],"couplings":[33,55],"that":[34,176],"are":[35,140],"constructed":[36],"using":[37,131],"feedback.":[39],"contrast,":[41],"this":[42,85],"paper":[43],"presents":[44],"a":[45,58,64,73,78,104,114,150,157],"novel":[46],"strategy,":[48],"introduces":[50],"use":[52],"dynamic":[54,80,100],"to":[56,91,102],"coordinate":[57],"group":[59],"unicycle":[61],"robots":[62],"following":[63],"desired":[65],"trajectory.":[66],"The":[67,121,173],"proposed":[68,154,178],"control-scheme":[69],"composed":[71],"by":[72,98,113,130],"nonlinear":[74],"tracking":[75],"controller":[76],"first-order":[79],"coupling.":[81,120],"One":[82],"advantage":[83],"scheme":[86,116,159,179],"that,":[88],"with":[89,142],"respect":[90],"energy":[93,96,111],"index,":[94],"required":[97,112],"coupling":[101],"perform":[103],"cooperative":[105],"task":[106],"lower":[108],"than":[109],"traditional":[115,168],"based":[117,166],"on":[118,167],"stability":[122],"closed-loop":[125],"system":[126],"formally":[128],"demonstrated":[129],"Lyapunov":[133],"theory":[134],"obtained":[137],"theoretical":[138],"results":[139,174],"illustrated":[141],"numerical":[143],"simulations":[144],"validated":[146],"through":[147],"experiments.":[148],"Also,":[149],"comparison":[151],"strategy":[155],"against":[156],"reported":[160],"literature,":[163],"coupling,":[170],"provided.":[172],"show":[175],"has":[180],"some":[181],"practical":[182],"implications,":[183],"including":[184],"reduction":[185],"steady":[188],"state":[189],"error":[190],"reduced":[192],"overshoot":[193],"during":[194],"transient.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
