{"id":"https://openalex.org/W2138004545","doi":"https://doi.org/10.1109/cdc.2002.1184274","title":"Decentralized overlapping control of a formation of unmanned aerial vehicles","display_name":"Decentralized overlapping control of a formation of unmanned aerial vehicles","publication_year":2003,"publication_date":"2003-08-27","ids":{"openalex":"https://openalex.org/W2138004545","doi":"https://doi.org/10.1109/cdc.2002.1184274","mag":"2138004545"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2002.1184274","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2002.1184274","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":"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/A5046079000","display_name":"Du\u0161an M. Stipanovi\u0107","orcid":"https://orcid.org/0000-0002-2826-5241"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D.M. Stipanovic","raw_affiliation_strings":["Hybrid System Laboratory, Department of Aeronautics and Astronautics, University of Stanford, Stanford, CA, USA","Dept. of Aeronaut. & Astronaut., Stanford Univ., CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hybrid System Laboratory, Department of Aeronautics and Astronautics, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885"]},{"raw_affiliation_string":"Dept. of Aeronaut. & Astronaut., Stanford Univ., CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037931913","display_name":"G\u00f6khan \u0130nalhan","orcid":"https://orcid.org/0000-0002-4490-8358"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G. Inalhan","raw_affiliation_strings":["Hybrid System Laboratory, Department of Aeronautics and Astronautics, University of Stanford, Stanford, CA, USA","Dept. of Aeronaut. & Astronaut., Stanford Univ., CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hybrid System Laboratory, Department of Aeronautics and Astronautics, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885"]},{"raw_affiliation_string":"Dept. of Aeronaut. & Astronaut., Stanford Univ., CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064590970","display_name":"Rodney Teo","orcid":"https://orcid.org/0000-0002-7463-110X"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Teo","raw_affiliation_strings":["Hybrid System Laboratory, Department of Aeronautics and Astronautics, University of Stanford, Stanford, CA, USA","Dept. of Aeronaut. & Astronaut., Stanford Univ., CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hybrid System Laboratory, Department of Aeronautics and Astronautics, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885"]},{"raw_affiliation_string":"Dept. of Aeronaut. & Astronaut., Stanford Univ., CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045155646","display_name":"Claire J. Tomlin","orcid":"https://orcid.org/0000-0003-3192-3185"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C.J. Tomlin","raw_affiliation_strings":["Hybrid System Laboratory, Department of Aeronautics and Astronautics, University of Stanford, Stanford, CA, USA","Dept. of Aeronaut. & Astronaut., Stanford Univ., CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hybrid System Laboratory, Department of Aeronautics and Astronautics, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885"]},{"raw_affiliation_string":"Dept. of Aeronaut. & Astronaut., Stanford Univ., CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.3716,"has_fulltext":false,"cited_by_count":64,"citation_normalized_percentile":{"value":0.95298849,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"3","issue":null,"first_page":"2829","last_page":"2835"},"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/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.9951000213623047,"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/T10545","display_name":"Optimization and Variational Analysis","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/control-theory","display_name":"Control theory (sociology)","score":0.6325167417526245},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.6009270548820496},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5834953784942627},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5830111503601074},{"id":"https://openalex.org/keywords/disjoint-sets","display_name":"Disjoint sets","score":0.563147783279419},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5181928277015686},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4941542446613312},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.483576238155365},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47114554047584534},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.4567786753177643},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42434677481651306},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.3981820344924927},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33659231662750244},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24644529819488525},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21258258819580078},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14546924829483032},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09432646632194519}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6325167417526245},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.6009270548820496},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5834953784942627},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5830111503601074},{"id":"https://openalex.org/C45340560","wikidata":"https://www.wikidata.org/wiki/Q215382","display_name":"Disjoint sets","level":2,"score":0.563147783279419},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5181928277015686},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4941542446613312},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.483576238155365},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47114554047584534},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.4567786753177643},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42434677481651306},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.3981820344924927},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33659231662750244},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24644529819488525},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21258258819580078},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14546924829483032},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09432646632194519},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2002.1184274","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2002.1184274","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:10.1.1.8.9209","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.8.9209","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.stanford.edu/~ginalhan/recent/cdc02_reg0708.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1533117844","https://openalex.org/W1551975101","https://openalex.org/W1561445488","https://openalex.org/W1580992231","https://openalex.org/W1585964429","https://openalex.org/W1603022741","https://openalex.org/W1778911478","https://openalex.org/W1994511420","https://openalex.org/W2013493124","https://openalex.org/W2050834595","https://openalex.org/W2053287532","https://openalex.org/W2071428985","https://openalex.org/W2099159893","https://openalex.org/W2113237285","https://openalex.org/W2124650827","https://openalex.org/W2127648965","https://openalex.org/W2128012238","https://openalex.org/W2129942075","https://openalex.org/W2142285472","https://openalex.org/W2144840288","https://openalex.org/W2146890818","https://openalex.org/W2171472775","https://openalex.org/W2312834382","https://openalex.org/W2325440561","https://openalex.org/W3036684898","https://openalex.org/W3210839039","https://openalex.org/W6638189091","https://openalex.org/W6679161724","https://openalex.org/W6779520539"],"related_works":["https://openalex.org/W4256429076","https://openalex.org/W1971174658","https://openalex.org/W2099195351","https://openalex.org/W2348092930","https://openalex.org/W2012063272","https://openalex.org/W2138685729","https://openalex.org/W4386395423","https://openalex.org/W4366562581","https://openalex.org/W3153752017","https://openalex.org/W2082509025"],"abstract_inverted_index":{"Decentralized":[0],"overlapping":[1,21,32],"feedback":[2,67],"laws":[3],"are":[4,105],"designed":[5,70],"for":[6,113],"a":[7,48,61,64,99],"formation":[8,18],"of":[9,16,38,78,90],"unmanned":[10],"aerial":[11],"vehicles.":[12],"The":[13,81],"dynamic":[14],"model":[15],"the":[17,35,39,42,54,74,79,87,102,109],"with":[19,31],"an":[20,28],"information":[22],"structure":[23],"constraint":[24],"is":[25,45,69,84],"treated":[26],"as":[27],"interconnected":[29,43,111],"system":[30,44,112],"subsystems.":[33],"Using":[34],"mathematical":[36],"framework":[37],"inclusion":[40],"principle,":[41],"expanded":[46],"into":[47],"higher":[49],"dimensional":[50],"space":[51],"in":[52],"which":[53],"subsystems":[55],"appear":[56],"to":[57,71,108],"be":[58],"disjoint.":[59],"On":[60],"subsystem":[62],"level,":[63],"static":[65],"state":[66],"controller":[68],"robustly":[72],"stabilize":[73],"perturbed":[75],"nominal":[76],"dynamics":[77],"subsystem.":[80],"design":[82],"procedure":[83],"based":[85],"on":[86],"hierarchical":[88],"application":[89],"convex":[91],"optimization":[92],"tools":[93],"involving":[94],"linear":[95],"matrix":[96],"inequalities.":[97],"As":[98],"final":[100],"step,":[101],"decentralized":[103],"controllers":[104],"contracted":[106],"back":[107],"original":[110],"implementation.":[114]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}