{"id":"https://openalex.org/W2997516367","doi":"https://doi.org/10.1109/anzcc47194.2019.8945601","title":"A Formation Maintenance and Reconstruction Method of UAV Swarm based on Distributed Control with Obstacle Avoidance","display_name":"A Formation Maintenance and Reconstruction Method of UAV Swarm based on Distributed Control with Obstacle Avoidance","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2997516367","doi":"https://doi.org/10.1109/anzcc47194.2019.8945601","mag":"2997516367"},"language":"en","primary_location":{"id":"doi:10.1109/anzcc47194.2019.8945601","is_oa":false,"landing_page_url":"https://doi.org/10.1109/anzcc47194.2019.8945601","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 Australian & New Zealand Control Conference (ANZCC)","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/A5084272556","display_name":"Xiaowei Fu","orcid":"https://orcid.org/0000-0002-0495-0279"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaowei Fu","raw_affiliation_strings":["Northwestern Polytechnical University, Xi\u2019an, China"],"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, Xi\u2019an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101875418","display_name":"Jing Pan","orcid":"https://orcid.org/0000-0002-5178-2247"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Pan","raw_affiliation_strings":["Northwestern Polytechnical University, Xi\u2019an, China"],"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, Xi\u2019an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044465117","display_name":"Haixiang Wang","orcid":"https://orcid.org/0000-0002-5040-6055"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haixiang Wang","raw_affiliation_strings":["Northwestern Polytechnical University, Xi\u2019an, China"],"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, Xi\u2019an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101433470","display_name":"Xiaoguang Gao","orcid":"https://orcid.org/0000-0002-9209-3325"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoguang Gao","raw_affiliation_strings":["Northwestern Polytechnical University, Xi\u2019an, China"],"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, Xi\u2019an, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5084272556"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":1.061,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.80206259,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"205","last_page":"209"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.996999979019165,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8619028925895691},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7495005130767822},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.7489954233169556},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.706762969493866},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6777898073196411},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.5600806474685669},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5256532430648804},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5175561308860779},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.47355595231056213},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46547597646713257},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4140622019767761},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3779827356338501},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3527727425098419},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.30854499340057373},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20914754271507263},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18319696187973022},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17340219020843506},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09945696592330933}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8619028925895691},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7495005130767822},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.7489954233169556},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.706762969493866},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6777898073196411},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.5600806474685669},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5256532430648804},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5175561308860779},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.47355595231056213},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46547597646713257},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4140622019767761},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3779827356338501},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3527727425098419},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.30854499340057373},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20914754271507263},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18319696187973022},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17340219020843506},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09945696592330933},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/anzcc47194.2019.8945601","is_oa":false,"landing_page_url":"https://doi.org/10.1109/anzcc47194.2019.8945601","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 Australian & New Zealand Control Conference (ANZCC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1517023801","https://openalex.org/W1991125864","https://openalex.org/W2088995751","https://openalex.org/W2105850748","https://openalex.org/W2112474089","https://openalex.org/W2116154790","https://openalex.org/W2150312211","https://openalex.org/W2567990716","https://openalex.org/W2769214024","https://openalex.org/W2796360319","https://openalex.org/W4234406933","https://openalex.org/W6731816190"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2023024008","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1911254468","https://openalex.org/W1506523185","https://openalex.org/W3045722011","https://openalex.org/W2356867392","https://openalex.org/W2913749762"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"the":[3,37,49,54,60,65,78,85,93,101,109],"problem":[4],"of":[5,10],"formation":[6,67,79,111],"maintenance":[7,70],"and":[8,39,48,69,92,107],"reconstruction":[9],"UAV":[11,27,47,91,102],"swarm":[12,66,103],"with":[13,53,72],"obstacle":[14,55,73],"avoidance.":[15],"Firstly,":[16],"a":[17,113],"collision":[18],"prediction":[19],"mechanism":[20,57],"is":[21,75,81],"introduced":[22],"to":[23,29],"determine":[24],"whether":[25],"each":[26,46,90],"needs":[28],"avoid":[30],"obstacles":[31],"or":[32],"not.":[33],"Secondly,":[34],"by":[35,83],"designing":[36],"position":[38],"speed":[40],"consistency":[41],"control":[42,68],"law":[43],"between":[44,89],"UAVs,":[45],"virtual":[50,94],"leader,":[51],"combined":[52],"avoidance":[56,74],"based":[58],"on":[59],"artificial":[61],"potential":[62],"field":[63],"method,":[64],"algorithm":[71],"realized.":[76],"Finally,":[77],"transformation":[80],"realized":[82],"changing":[84],"relative":[86],"positional":[87],"relationship":[88],"leader.":[95],"The":[96],"simulation":[97],"results":[98],"show":[99],"that":[100],"can":[104],"generate,":[105],"maintain":[106],"reconstruct":[108],"expected":[110],"in":[112],"real-time":[114],"distributed":[115],"manner":[116],"while":[117],"avoiding":[118],"obstacles.":[119]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}