{"id":"https://openalex.org/W4312085680","doi":"https://doi.org/10.1109/ccta49430.2022.9966067","title":"Flock navigation with dynamic hierarchy and subjective weights using nonlinear MPC","display_name":"Flock navigation with dynamic hierarchy and subjective weights using nonlinear MPC","publication_year":2022,"publication_date":"2022-08-23","ids":{"openalex":"https://openalex.org/W4312085680","doi":"https://doi.org/10.1109/ccta49430.2022.9966067"},"language":"en","primary_location":{"id":"doi:10.1109/ccta49430.2022.9966067","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta49430.2022.9966067","pdf_url":null,"source":{"id":"https://openalex.org/S4363608038","display_name":"2022 IEEE Conference on Control Technology and Applications (CCTA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5003258377","display_name":"Aneek Nag","orcid":null},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Aneek Nag","raw_affiliation_strings":["Kyushu University,Department of Electrical Engineering,Fukuoka,Japan,819-0395"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyushu University,Department of Electrical Engineering,Fukuoka,Japan,819-0395","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019099711","display_name":"Shuo Huang","orcid":"https://orcid.org/0000-0002-3730-8485"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shuo Huang","raw_affiliation_strings":["Kyushu University,Department of Electrical Engineering,Fukuoka,Japan,819-0395"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyushu University,Department of Electrical Engineering,Fukuoka,Japan,819-0395","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010064441","display_name":"Andreas Themelis","orcid":"https://orcid.org/0000-0002-6044-0169"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Andreas Themelis","raw_affiliation_strings":["Kyushu University,Department of Electrical Engineering,Fukuoka,Japan,819-0395"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyushu University,Department of Electrical Engineering,Fukuoka,Japan,819-0395","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042564006","display_name":"Kaoru Yamamoto","orcid":"https://orcid.org/0000-0003-1888-3529"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kaoru Yamamoto","raw_affiliation_strings":["Kyushu University,Department of Electrical Engineering,Fukuoka,Japan,819-0395"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyushu University,Department of Electrical Engineering,Fukuoka,Japan,819-0395","institution_ids":["https://openalex.org/I135598925"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135598925"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1135","last_page":"1140"},"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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9794999957084656,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.9502000212669373,"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/flocking","display_name":"Flocking (texture)","score":0.9143668413162231},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6369990110397339},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5970057249069214},{"id":"https://openalex.org/keywords/credibility","display_name":"Credibility","score":0.5541773438453674},{"id":"https://openalex.org/keywords/cohesion","display_name":"Cohesion (chemistry)","score":0.5246058702468872},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4986448287963867},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.496613085269928},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.45276087522506714},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42242854833602905},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33057883381843567},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3106310963630676},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2655840516090393},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2531382441520691},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1682470738887787}],"concepts":[{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.9143668413162231},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6369990110397339},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5970057249069214},{"id":"https://openalex.org/C2780224610","wikidata":"https://www.wikidata.org/wiki/Q1530061","display_name":"Credibility","level":2,"score":0.5541773438453674},{"id":"https://openalex.org/C104054115","wikidata":"https://www.wikidata.org/wiki/Q216828","display_name":"Cohesion (chemistry)","level":2,"score":0.5246058702468872},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4986448287963867},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.496613085269928},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.45276087522506714},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42242854833602905},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33057883381843567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3106310963630676},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2655840516090393},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2531382441520691},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1682470738887787},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"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/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccta49430.2022.9966067","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta49430.2022.9966067","pdf_url":null,"source":{"id":"https://openalex.org/S4363608038","display_name":"2022 IEEE Conference on Control Technology and Applications (CCTA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2574210804","display_name":null,"funder_award_id":"JP19H02161,JP20K14766,JP21K17710","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G4231125181","display_name":"New-generation optimization algorithms for engineering","funder_award_id":"21K17710","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G6878401006","display_name":"Real-time scale-free control for autonomous mobile robot networks","funder_award_id":"20K14766","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1563037943","https://openalex.org/W1981832695","https://openalex.org/W1987128502","https://openalex.org/W1999502602","https://openalex.org/W2032328773","https://openalex.org/W2103714988","https://openalex.org/W2105850748","https://openalex.org/W2150661873","https://openalex.org/W2170427350","https://openalex.org/W2505506636","https://openalex.org/W2505783420","https://openalex.org/W2950312551","https://openalex.org/W2963888662","https://openalex.org/W2972925418","https://openalex.org/W2981655159","https://openalex.org/W2993649961","https://openalex.org/W3091096609","https://openalex.org/W3148870627","https://openalex.org/W3155850785","https://openalex.org/W3156228505","https://openalex.org/W3204345415","https://openalex.org/W4234406933","https://openalex.org/W4315488526","https://openalex.org/W6810426935","https://openalex.org/W7034029160","https://openalex.org/W7062071732"],"related_works":["https://openalex.org/W3196562632","https://openalex.org/W2388687352","https://openalex.org/W2530977643","https://openalex.org/W4318822799","https://openalex.org/W1481047111","https://openalex.org/W1989157904","https://openalex.org/W3048440450","https://openalex.org/W2357545018","https://openalex.org/W3099149755","https://openalex.org/W1991727603"],"abstract_inverted_index":{"We":[0,31],"propose":[1],"a":[2,10,19,43,51],"model":[3,48],"predictive":[4],"control":[5,12],"(MPC)":[6],"based":[7,84],"approach":[8],"to":[9,49,55,96],"flock":[11],"problem":[13],"with":[14],"obstacle":[15],"avoidance":[16],"capability":[17],"in":[18,128],"leader-follower":[20],"framework,":[21],"utilizing":[22],"the":[23,33,47,66,69,72,86,106,116,119,129],"future":[24],"trajectory":[25],"prediction":[26],"computed":[27],"by":[28,115],"each":[29],"agent.":[30],"employ":[32],"traditional":[34],"Reynolds'":[35],"flocking":[36],"rules":[37],"(cohesion,":[38],"separation,":[39],"and":[40,45,68,77,105,121,132],"alignment)":[41],"as":[42,65],"basis,":[44],"tailor":[46],"fit":[50],"navigation":[52],"(as":[53],"opposed":[54],"formation)":[56],"purpose.":[57],"In":[58],"particular,":[59],"we":[60],"introduce":[61],"several":[62],"concepts":[63],"such":[64],"credibility":[67],"importance":[70],"of":[71,101,108],"gathered":[73],"information":[74],"from":[75],"neighbors,":[76],"dynamic":[78],"trade-offs":[79],"between":[80,118],"references.":[81],"They":[82],"are":[83,91,98,126,135],"on":[85],"observations":[87],"that":[88],"near-future":[89],"predictions":[90],"more":[92,102],"reliable,":[93],"agents":[94],"closer":[95],"leaders":[97],"implicit":[99],"carriers":[100],"educated":[103],"information,":[104],"predominance":[107],"either":[109],"cohesion":[110],"or":[111],"alignment":[112],"is":[113],"dictated":[114],"distance":[117],"agent":[120],"its":[122],"neighbors.":[123],"These":[124],"features":[125],"incorporated":[127],"MPC":[130],"formulation,":[131],"their":[133],"advantages":[134],"discussed":[136],"through":[137],"numerical":[138],"simulations.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
