{"id":"https://openalex.org/W4401750893","doi":"https://doi.org/10.1109/aim55361.2024.10637223","title":"Multi-agent Formation Maintaining RRT<sup>*</sup> (MFM-RRT<sup>*</sup>) Considering Formation Maintenance","display_name":"Multi-agent Formation Maintaining RRT<sup>*</sup> (MFM-RRT<sup>*</sup>) Considering Formation Maintenance","publication_year":2024,"publication_date":"2024-07-15","ids":{"openalex":"https://openalex.org/W4401750893","doi":"https://doi.org/10.1109/aim55361.2024.10637223"},"language":"en","primary_location":{"id":"doi:10.1109/aim55361.2024.10637223","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/aim55361.2024.10637223","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","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/A5051403725","display_name":"Yiwen Zhu","orcid":"https://orcid.org/0000-0002-2282-1913"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiwen Zhu","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Mechanical Engineering,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Mechanical Engineering,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029847079","display_name":"Jiawei Hu","orcid":"https://orcid.org/0000-0002-6542-7668"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiawei Hu","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Mechanical Engineering,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Mechanical Engineering,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036757330","display_name":"Zhenhua Xiong","orcid":"https://orcid.org/0000-0001-6046-3101"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenhua Xiong","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Mechanical Engineering,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Mechanical Engineering,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16408995,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1518","last_page":"1523"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11801","display_name":"Reservoir Engineering and Simulation Methods","score":0.9298999905586243,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11801","display_name":"Reservoir Engineering and Simulation Methods","score":0.9298999905586243,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T12288","display_name":"Optimization and Search Problems","score":0.9090999960899353,"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":0.9039000272750854,"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/computer-science","display_name":"Computer science","score":0.35564857721328735},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.339305579662323}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35564857721328735},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.339305579662323}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim55361.2024.10637223","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/aim55361.2024.10637223","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.5400000214576721}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321408","display_name":"Ministry of Education","ror":"https://ror.org/01p262204"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W2071401582","https://openalex.org/W2076162824","https://openalex.org/W2909688514","https://openalex.org/W2980462145","https://openalex.org/W3006298992","https://openalex.org/W3016164434","https://openalex.org/W3127511342","https://openalex.org/W3176420870","https://openalex.org/W3181323247","https://openalex.org/W4206617872","https://openalex.org/W4285612985","https://openalex.org/W4289521015","https://openalex.org/W4313229938","https://openalex.org/W4322760198","https://openalex.org/W4376104428","https://openalex.org/W4379409270","https://openalex.org/W4386821267","https://openalex.org/W4386821357","https://openalex.org/W4387123908","https://openalex.org/W6605295560"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2935759653","https://openalex.org/W3105167352","https://openalex.org/W54078636","https://openalex.org/W2954470139","https://openalex.org/W1501425562","https://openalex.org/W2902782467","https://openalex.org/W3084825885","https://openalex.org/W2298861036"],"abstract_inverted_index":{"Multi-agent":[0,89],"systems":[1],"(MAS)":[2],"have":[3],"a":[4,33,120],"wide":[5],"range":[6],"of":[7,13,80,104,115,144,154],"applications,":[8],"particularly":[9],"in":[10,181,184],"the":[11,41,50,78,88,110,128,134,142,148,152],"field":[12],"cooperative":[14],"transporting.":[15],"In":[16,147],"these":[17],"tasks,":[18],"MAS":[19,31,60,100],"are":[20],"often":[21],"required":[22],"to":[23,38,77,126,159,176],"meet":[24],"formation":[25,54,105,129,136,183],"constraints.":[26],"Therefore,":[27],"path":[28,42,61,66,162],"planning":[29,62,70,163],"for":[30,99],"is":[32,43,75,124],"challenging":[34],"task":[35],"and":[36,45,68,72,112,137],"needs":[37],"ensure":[39],"that":[40],"short":[44],"collision":[46],"free,":[47],"while":[48],"minimizing":[49,141],"adverse":[51],"impact":[52],"on":[53,59,133],"maintaining.":[55],"However,":[56],"current":[57],"research":[58],"mainly":[63],"emphasizes":[64],"reducing":[65],"length":[67],"optimizing":[69],"efficiency,":[71],"limited":[73],"attention":[74],"given":[76],"preservation":[79],"formations.":[81],"To":[82],"address":[83],"this":[84],"gap,":[85],"we":[86,150,166],"propose":[87],"Formation":[90],"Maintaining":[91],"RRT<sup":[92,116],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[93,96,117,156,169],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">*</sup>":[94,157,170],"(MFM-RRT<sup":[95],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">*</sup>)":[97],"method":[98],"with":[101,171],"specific":[102],"consideration":[103],"maintenance,":[106],"which":[107],"also":[108],"enhances":[109],"computational":[111],"convergence":[113],"speed":[114],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">*</sup>.":[118],"Additionally,":[119],"novel":[121],"cost":[122,131],"function":[123],"proposed":[125],"compute":[127],"deformation":[130,143],"based":[132],"predetermined":[135],"environment":[138],"information,":[139],"thereby":[140],"multi-agent":[145],"formation.":[146],"simulations,":[149],"evaluate":[151],"performance":[153,180],"MFM-RRT<sup":[155,168],"compared":[158],"several":[160],"widely-used":[161],"algorithms.":[164],"Moreover,":[165],"integrate":[167],"Attractive":[172],"Potential":[173],"Field":[174],"(APF)":[175],"demonstrate":[177],"its":[178],"enhanced":[179],"maintaining":[182],"complex":[185],"environment.":[186]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
