{"id":"https://openalex.org/W4390692036","doi":"https://doi.org/10.1109/access.2024.3352131","title":"Directed Graph Topology Preservation in Multi-Robot Systems With Limited Field of View Using Control Barrier Functions","display_name":"Directed Graph Topology Preservation in Multi-Robot Systems With Limited Field of View Using Control Barrier Functions","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4390692036","doi":"https://doi.org/10.1109/access.2024.3352131"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3352131","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3352131","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10387314.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/ielx7/6287639/6514899/10387314.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039024671","display_name":"Filippo Bertoncelli","orcid":"https://orcid.org/0000-0001-5524-481X"},"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":true,"raw_author_name":"Filippo Bertoncelli","raw_affiliation_strings":["Department of Sciences and Methods of Engineering, University of Modena and Reggio Emilia, Modena, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Sciences and Methods of Engineering, University of Modena and Reggio Emilia, Modena, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112132678","display_name":"Vivek Radhakrishnan","orcid":null},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vivek Radhakrishnan","raw_affiliation_strings":["NYU Tandon School of Engineering, New York University, Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"NYU Tandon School of Engineering, New York University, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028692722","display_name":"Mattia Catellani","orcid":"https://orcid.org/0009-0008-0050-7166"},"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":"Mattia Catellani","raw_affiliation_strings":["Department of Sciences and Methods of Engineering, University of Modena and Reggio Emilia, Modena, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Sciences and Methods of Engineering, University of Modena and Reggio Emilia, Modena, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077485450","display_name":"Giuseppe Loianno","orcid":"https://orcid.org/0000-0002-3263-5401"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Giuseppe Loianno","raw_affiliation_strings":["NYU Tandon School of Engineering, New York University, Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"NYU Tandon School of Engineering, New York University, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"last","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":["Department of Sciences and Methods of Engineering, University of Modena and Reggio Emilia, Modena, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Sciences and Methods of Engineering, University of Modena and Reggio Emilia, Modena, Italy","institution_ids":["https://openalex.org/I122346577"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5039024671"],"corresponding_institution_ids":["https://openalex.org/I122346577"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.745,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.84145606,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"12","issue":null,"first_page":"9682","last_page":"9690"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983000159263611,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/computer-science","display_name":"Computer science","score":0.6735767126083374},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.533849835395813},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4893428683280945},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.44510576128959656},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.32390639185905457},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2518841028213501},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20267289876937866},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14930424094200134}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6735767126083374},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.533849835395813},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4893428683280945},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.44510576128959656},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.32390639185905457},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2518841028213501},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20267289876937866},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14930424094200134},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2024.3352131","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3352131","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10387314.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:55caa14f2e56484c9bce2eb22b1c32c2","is_oa":true,"landing_page_url":"https://doaj.org/article/55caa14f2e56484c9bce2eb22b1c32c2","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 9682-9690 (2024)","raw_type":"article"},{"id":"pmh:oai:iris.unimore.it:11380/1366431","is_oa":true,"landing_page_url":"https://hdl.handle.net/11380/1366431","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3352131","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3352131","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10387314.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":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4390692036.pdf","grobid_xml":"https://content.openalex.org/works/W4390692036.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W1980569135","https://openalex.org/W1993693205","https://openalex.org/W1996738522","https://openalex.org/W2139436833","https://openalex.org/W2167485994","https://openalex.org/W2191312089","https://openalex.org/W2485926893","https://openalex.org/W2511394123","https://openalex.org/W2557430988","https://openalex.org/W2560504659","https://openalex.org/W2568780766","https://openalex.org/W2769646558","https://openalex.org/W2910825450","https://openalex.org/W2958992138","https://openalex.org/W2968945909","https://openalex.org/W3101798601","https://openalex.org/W3111019671","https://openalex.org/W3138901592","https://openalex.org/W3195263202","https://openalex.org/W3200421757","https://openalex.org/W3205846636","https://openalex.org/W3207298423","https://openalex.org/W4285193215","https://openalex.org/W4312454273","https://openalex.org/W4312683248","https://openalex.org/W4383500888","https://openalex.org/W4387952116","https://openalex.org/W4391405879","https://openalex.org/W4391405963","https://openalex.org/W6636430923"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"This":[0,82],"paper":[1],"addresses":[2],"the":[3,8,68,115,136,143],"crucial":[4],"challenge":[5],"of":[6,26,71,100,135,145,148],"maintaining":[7],"directed":[9],"graph":[10,69,116],"topology":[11,70,117],"in":[12,47,87,118,141],"multi-robot":[13,33,73,119,174],"systems,":[14],"particularly":[15,46,85],"when":[16],"operating":[17],"under":[18],"limited":[19],"field-of-view":[20],"constraints":[21],"and":[22],"with":[23],"a":[24,55,72,108,146,161,173],"lack":[25],"communication":[27,91],"among":[28],"robots.":[29],"Traditional":[30],"methods":[31],"for":[32],"coordination":[34],"rely":[35],"heavily":[36],"on":[37,77,125],"inter-robot":[38],"communication,":[39],"which":[40,123],"may":[41],"not":[42],"always":[43],"be":[44],"feasible,":[45],"constrained":[48],"or":[49,95],"hostile":[50],"environments.":[51],"Our":[52],"work":[53],"presents":[54],"novel":[56,109],"distributed":[57,162],"control":[58,110,164],"algorithm":[59,111],"that":[60,112,167],"leverages":[61],"Control":[62],"Barrier":[63],"Functions":[64],"(CBFs)":[65],"to":[66,160],"maintain":[67],"system":[74,175],"based":[75],"solely":[76],"local,":[78],"onboard":[79],"sensor":[80],"data.":[81,128,154],"approach":[83,169],"is":[84],"beneficial":[86],"situations":[88],"where":[89],"external":[90],"channels":[92],"are":[93,103],"disrupted":[94],"unavailable.":[96],"The":[97],"key":[98],"contributions":[99],"this":[101],"research":[102],"threefold:":[104],"First,":[105],"we":[106,130,156],"design":[107],"efficiently":[113],"maintains":[114],"systems":[120],"using":[121,150,176],"CBFs,":[122],"operate":[124],"neighbor":[126],"detection":[127],"Second,":[129],"perform":[131],"an":[132],"experimental":[133],"evaluation":[134],"algorithm,":[137],"demonstrating":[138],"its":[139],"efficacy":[140],"controlling":[142],"flight":[144],"team":[147],"drones":[149],"only":[151,177],"local":[152,178],"robot":[153],"Third,":[155],"apply":[157],"our":[158,168],"methodology":[159],"coverage":[163],"scenario,":[165],"showing":[166],"can":[170],"effectively":[171],"manage":[172],"information.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}