{"id":"https://openalex.org/W2112064336","doi":"https://doi.org/10.1109/cdc.2003.1272446","title":"Robust mobile robotic formation control using Internet-like protocols","display_name":"Robust mobile robotic formation control using Internet-like protocols","publication_year":2004,"publication_date":"2004-06-21","ids":{"openalex":"https://openalex.org/W2112064336","doi":"https://doi.org/10.1109/cdc.2003.1272446","mag":"2112064336"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2003.1272446","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2003.1272446","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","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/A5029611338","display_name":"Rafael Sandoval-Rodr\u00edguez","orcid":null},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Sandoval-Rodriguez","raw_affiliation_strings":["Electrical & Computer Engineering Department, Albuquerque, NM","Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical & Computer Engineering Department, Albuquerque, NM","institution_ids":[]},{"raw_affiliation_string":"Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025532495","display_name":"Chaouki T. Abdallah","orcid":"https://orcid.org/0000-0001-8259-097X"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C.T. Abdallah","raw_affiliation_strings":["Electrical & Computer Engineering Department, Albuquerque, NM","Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical & Computer Engineering Department, Albuquerque, NM","institution_ids":[]},{"raw_affiliation_string":"Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070963253","display_name":"Peter Hokayem","orcid":"https://orcid.org/0000-0002-4630-8399"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"P.F. Hokayem","raw_affiliation_strings":["Electrical & Computer Engineering Department, Albuquerque, NM","Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical & Computer Engineering Department, Albuquerque, NM","institution_ids":[]},{"raw_affiliation_string":"Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027650806","display_name":"Edl Schamiloglu","orcid":"https://orcid.org/0000-0001-9356-1293"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E. Schamiloglu","raw_affiliation_strings":["Electrical & Computer Engineering Department, Albuquerque, NM","Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical & Computer Engineering Department, Albuquerque, NM","institution_ids":[]},{"raw_affiliation_string":"Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074722065","display_name":"Raymond H. Byrne","orcid":"https://orcid.org/0000-0002-9972-1742"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"R.H. Byrne","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7486,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.78439337,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"eece tr 3 5","issue":null,"first_page":"5109","last_page":"5112"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9986000061035156,"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"}},{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.993399977684021,"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/computer-science","display_name":"Computer science","score":0.751746416091919},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5758484601974487},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5614768862724304},{"id":"https://openalex.org/keywords/the-internet","display_name":"The Internet","score":0.5048204064369202},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4857175946235657},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4553558826446533},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4437360167503357},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.4383545517921448},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.334962397813797},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.32165706157684326},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1987707018852234}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.751746416091919},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5758484601974487},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5614768862724304},{"id":"https://openalex.org/C110875604","wikidata":"https://www.wikidata.org/wiki/Q75","display_name":"The Internet","level":2,"score":0.5048204064369202},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4857175946235657},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4553558826446533},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4437360167503357},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.4383545517921448},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.334962397813797},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.32165706157684326},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1987707018852234},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"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/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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2003.1272446","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2003.1272446","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","raw_type":"proceedings-article"},{"id":"pmh:oai:digitalrepository.unm.edu:ece_fsp-1067","is_oa":false,"landing_page_url":"https://digitalrepository.unm.edu/ece_fsp/68","pdf_url":null,"source":{"id":"https://openalex.org/S4377196368","display_name":"UNM\u2019s Digital Repository (University of New Mexico)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169521973","host_organization_name":"University of New Mexico","host_organization_lineage":["https://openalex.org/I169521973"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Electrical &amp; Computer Engineering Faculty Publications","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":11,"referenced_works":["https://openalex.org/W1575037797","https://openalex.org/W1987497363","https://openalex.org/W2015410655","https://openalex.org/W2078595922","https://openalex.org/W2098764734","https://openalex.org/W2107497027","https://openalex.org/W2115263115","https://openalex.org/W2130647945","https://openalex.org/W2159715570","https://openalex.org/W2565631288","https://openalex.org/W4240896209"],"related_works":["https://openalex.org/W1517908938","https://openalex.org/W2378058392","https://openalex.org/W2443844466","https://openalex.org/W2281834912","https://openalex.org/W1489941249","https://openalex.org/W1974312944","https://openalex.org/W2774595050","https://openalex.org/W3123492739","https://openalex.org/W2048848526","https://openalex.org/W4320486059"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"an":[3],"internet-like":[4],"protocol":[5],"(ILP)":[6],"to":[7,51],"coordinate":[8],"the":[9,38,53,56,70,78,81,88,100],"formation":[10,31,79],"of":[11,40,55,61,80,90,94,97],"n":[12],"second-order":[13],"agents":[14,57,82,91],"in":[15,69,77,87],"a":[16,29,59],"two":[17],"dimensional":[18],"(2D)":[19],"space.":[20],"The":[21,64],"trajectories":[22],"are":[23,67],"specified":[24],"trough":[25],"via":[26],"points":[27],"and":[28,83],"desired":[30,62],"at":[32],"each":[33],"point.":[34],"A":[35],"basis":[36],"for":[37,58],"proof":[39],"convergence":[41],"is":[42,49],"given":[43],"using":[44],"Lyapunov":[45],"second":[46],"method.":[47],"Simulink":[48],"used":[50],"verify":[52],"response":[54],"variety":[60],"trajectories.":[63],"proposed":[65],"algorithms":[66],"robust":[68],"sense":[71],"that":[72],"they":[73],"can":[74],"accommodate":[75],"changes":[76,86],"more":[84],"importantly,":[85],"number":[89],"as":[92],"some":[93],"them":[95],"drop":[96],"or":[98],"join":[99],"formation.":[101]},"counts_by_year":[{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
