{"id":"https://openalex.org/W1506993104","doi":"https://doi.org/10.1109/cdc.2002.1184200","title":"Satisficing control for multi-agent formation maneuvers","display_name":"Satisficing control for multi-agent formation maneuvers","publication_year":2003,"publication_date":"2003-08-27","ids":{"openalex":"https://openalex.org/W1506993104","doi":"https://doi.org/10.1109/cdc.2002.1184200","mag":"1506993104"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2002.1184200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2002.1184200","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 41st IEEE Conference on Decision and Control, 2002.","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/A5058087521","display_name":"Wei Ren","orcid":"https://orcid.org/0000-0002-3300-0993"},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Wei Ren","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Brigham Young University, Provo, UT, USA","Dept. of Electr. & Comput. Eng., Brigham Young Univ., Provo, UT, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Brigham Young University, Provo, UT, USA","institution_ids":["https://openalex.org/I100005738"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Brigham Young Univ., Provo, UT, USA","institution_ids":["https://openalex.org/I100005738"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077106540","display_name":"Randal W. Beard","orcid":"https://orcid.org/0000-0002-2548-5329"},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R.W. Beard","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Brigham Young University, Provo, UT, USA","Dept. of Electr. & Comput. Eng., Brigham Young Univ., Provo, UT, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Brigham Young University, Provo, UT, USA","institution_ids":["https://openalex.org/I100005738"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Brigham Young Univ., Provo, UT, USA","institution_ids":["https://openalex.org/I100005738"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057708292","display_name":"J. Willard Curtis","orcid":"https://orcid.org/0000-0002-9201-4295"},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.W. Curtis","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Brigham Young University, Provo, UT, USA","Dept. of Electr. & Comput. Eng., Brigham Young Univ., Provo, UT, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Brigham Young University, Provo, UT, USA","institution_ids":["https://openalex.org/I100005738"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Brigham Young Univ., Provo, UT, USA","institution_ids":["https://openalex.org/I100005738"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5058087521"],"corresponding_institution_ids":["https://openalex.org/I100005738"],"apc_list":null,"apc_paid":null,"fwci":1.4881,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.85773209,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"2433","last_page":"2438"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T12158","display_name":"Guidance and Control Systems","score":0.9976000189781189,"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/satisficing","display_name":"Satisficing","score":0.9878913164138794},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5610128045082092},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5484328269958496},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5018026828765869},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.49774792790412903},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4890385568141937},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4749577045440674},{"id":"https://openalex.org/keywords/bounded-rationality","display_name":"Bounded rationality","score":0.4749089479446411},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47084495425224304},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4662553071975708},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4505102336406708},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.43620967864990234},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4292060136795044},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4290226101875305},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3604118824005127},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.215028315782547},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19673937559127808},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10743701457977295}],"concepts":[{"id":"https://openalex.org/C94822996","wikidata":"https://www.wikidata.org/wiki/Q1777902","display_name":"Satisficing","level":2,"score":0.9878913164138794},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5610128045082092},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5484328269958496},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5018026828765869},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.49774792790412903},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4890385568141937},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4749577045440674},{"id":"https://openalex.org/C58694771","wikidata":"https://www.wikidata.org/wiki/Q814385","display_name":"Bounded rationality","level":2,"score":0.4749089479446411},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47084495425224304},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4662553071975708},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4505102336406708},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.43620967864990234},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4292060136795044},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4290226101875305},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3604118824005127},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.215028315782547},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19673937559127808},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10743701457977295},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc.2002.1184200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2002.1184200","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 41st IEEE Conference on Decision and Control, 2002.","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.7.1161","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.7.1161","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ee.byu.edu/~beard/papers/preprints/RenBeardCurtis02.ps","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.94.7280","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.94.7280","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://vision.ai.uiuc.edu/~tankh/citations/virtual_structures_AutoRobot1997/Ren_DC2002.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W164192076","https://openalex.org/W1517023801","https://openalex.org/W1888064853","https://openalex.org/W2023126268","https://openalex.org/W2072799558","https://openalex.org/W2106354437","https://openalex.org/W2113291050","https://openalex.org/W2115775310","https://openalex.org/W2119120935","https://openalex.org/W2138113564","https://openalex.org/W2140531311","https://openalex.org/W2158386911","https://openalex.org/W2166952533","https://openalex.org/W4251013842","https://openalex.org/W6606723151"],"related_works":["https://openalex.org/W2077638144","https://openalex.org/W2792598057","https://openalex.org/W4293230663","https://openalex.org/W2071697325","https://openalex.org/W3148966567","https://openalex.org/W1694674282","https://openalex.org/W2506356602","https://openalex.org/W4252791283","https://openalex.org/W4234968985","https://openalex.org/W4249305459"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"robustly":[3,32],"satisficing":[4,26,33],"controls":[5],"based":[6],"on":[7],"control":[8,27],"Lyapunov":[9],"functions":[10],"are":[11],"applied":[12,60],"to":[13,61],"multiagent":[14],"formation":[15,38,46],"problems.":[16],"We":[17],"show":[18],"that":[19],"under":[20],"certain":[21],"conditions":[22],"a":[23,62,70],"group":[24,63],"of":[25,64,72],"laws":[28],"chosen":[29],"from":[30],"the":[31],"set":[34],"can":[35],"guarantee":[36],"bounded":[37],"keeping":[39],"error,":[40],"finite":[41],"completion":[42],"time,":[43],"and":[44,53],"reasonable":[45],"velocity":[47],"as":[48,50,69],"well":[49],"inverse":[51],"optimality":[52],"desirable":[54],"stability":[55],"margins.":[56],"This":[57],"technique":[58],"is":[59],"nonholonomic":[65],"robots":[66],"in":[67],"simulation":[68],"proof":[71],"concept.":[73]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}