{"id":"https://openalex.org/W2035420017","doi":"https://doi.org/10.1109/cdc.2004.1430280","title":"Approaches to vision-based formation control","display_name":"Approaches to vision-based formation control","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2035420017","doi":"https://doi.org/10.1109/cdc.2004.1430280","mag":"2035420017"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2004.1430280","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2004.1430280","pdf_url":null,"source":{"id":"https://openalex.org/S4363608267","display_name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","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":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","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/A5103218805","display_name":"Eric N. Johnson","orcid":"https://orcid.org/0000-0001-5845-3641"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"E.N. Johnson","raw_affiliation_strings":["School of AeroSpace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","Aerospace Engineering"],"affiliations":[{"raw_affiliation_string":"School of AeroSpace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Aerospace Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108567932","display_name":"Anthony Calise","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A.J. Calise","raw_affiliation_strings":["Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","[Georgia Institute of Technology.]"],"affiliations":[{"raw_affiliation_string":"Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"[Georgia Institute of Technology.]","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074012065","display_name":"Ramachandra Sattigeri","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Sattigeri","raw_affiliation_strings":["School of AeroSpace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","[Georgia Institute of Technology.]"],"affiliations":[{"raw_affiliation_string":"School of AeroSpace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"[Georgia Institute of Technology.]","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023546473","display_name":"Yoko Watanabe","orcid":"https://orcid.org/0000-0002-8365-045X"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Y. Watanabe","raw_affiliation_strings":["School of AeroSpace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","[Georgia Institute of Technology.]"],"affiliations":[{"raw_affiliation_string":"School of AeroSpace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"[Georgia Institute of Technology.]","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001884884","display_name":"Venkatesh Madyastha","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"V. Madyastha","raw_affiliation_strings":["School of AeroSpace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","[Georgia Institute of Technology.]"],"affiliations":[{"raw_affiliation_string":"School of AeroSpace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"[Georgia Institute of Technology.]","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5103218805"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":5.7588,"has_fulltext":false,"cited_by_count":61,"citation_normalized_percentile":{"value":0.96480422,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1643","last_page":"1648 Vol.2"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996999979019165,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.8650606274604797},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7433894872665405},{"id":"https://openalex.org/keywords/image-plane","display_name":"Image plane","score":0.6527575850486755},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5980561375617981},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5672582983970642},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5291771292686462},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5229700207710266},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4966171383857727},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.48149383068084717},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4807595908641815},{"id":"https://openalex.org/keywords/image-formation","display_name":"Image formation","score":0.4432029128074646},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4330573081970215},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3373137414455414},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.3356202244758606},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32843372225761414},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24303364753723145},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16999056935310364},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11280122399330139}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.8650606274604797},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7433894872665405},{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.6527575850486755},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5980561375617981},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5672582983970642},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5291771292686462},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5229700207710266},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4966171383857727},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.48149383068084717},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4807595908641815},{"id":"https://openalex.org/C125045340","wikidata":"https://www.wikidata.org/wiki/Q6002224","display_name":"Image formation","level":3,"score":0.4432029128074646},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4330573081970215},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3373137414455414},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3356202244758606},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32843372225761414},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24303364753723145},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16999056935310364},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11280122399330139},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/cdc.2004.1430280","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2004.1430280","pdf_url":null,"source":{"id":"https://openalex.org/S4363608267","display_name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","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":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.139.4729","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.139.4729","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://controls.ae.gatech.edu/dbmedia/publications/ejohnson_cdc_2004_79.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.68.8162","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.68.8162","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ae.gatech.edu/~ejohnson/0279_WeA08.2.pdf","raw_type":"text"},{"id":"pmh:oai:smartech.gatech.edu:1853/35875","is_oa":false,"landing_page_url":"http://hdl.handle.net/1853/35875","pdf_url":null,"source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Proceedings"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1504506037","https://openalex.org/W1553193201","https://openalex.org/W1600187575","https://openalex.org/W2039627949","https://openalex.org/W2039921094","https://openalex.org/W2099067423","https://openalex.org/W2099159893","https://openalex.org/W2103120971","https://openalex.org/W2109322531","https://openalex.org/W2115584000","https://openalex.org/W2122817392","https://openalex.org/W2126554879","https://openalex.org/W2126976787","https://openalex.org/W2148875615","https://openalex.org/W2150312211","https://openalex.org/W2152427109","https://openalex.org/W2159250788","https://openalex.org/W2165413656","https://openalex.org/W2168564612","https://openalex.org/W2169529464","https://openalex.org/W2171183406","https://openalex.org/W2177274602","https://openalex.org/W6677521966","https://openalex.org/W6683437479","https://openalex.org/W6922509859"],"related_works":["https://openalex.org/W2162299404","https://openalex.org/W2103062922","https://openalex.org/W1691198090","https://openalex.org/W2060196832","https://openalex.org/W2067685950","https://openalex.org/W27470380","https://openalex.org/W2006375888","https://openalex.org/W3014167216","https://openalex.org/W2028505601","https://openalex.org/W2071433467"],"abstract_inverted_index":{"This":[0],"paper":[1],"implements":[2],"several":[3],"methods":[4,37],"for":[5,38],"performing":[6],"vision-based":[7],"formation":[8,39,113],"flight":[9],"control":[10,40],"of":[11,17,61,90,110,119],"multiple":[12],"aircraft":[13,68,128],"in":[14],"the":[15,45,59,62,70,74,88,100,108,117,120,132,148],"presence":[16],"obstacles.":[18],"No":[19],"information":[20,30,50],"is":[21,31,77,105],"communicated":[22],"between":[23,103],"aircraft,":[24],"and":[25,140],"only":[26],"passive":[27],"2-D":[28,48,139],"vision":[29,49],"available":[32],"to":[33,99,125],"maintain":[34],"formation.":[35],"The":[36],"rely":[41],"either":[42],"on":[43,69],"estimating":[44],"range":[46],"from":[47],"by":[51,65,107],"using":[52],"extended":[53],"Kalman":[54],"Filters":[55],"or":[56],"directly":[57],"regulating":[58],"size":[60,76],"image":[63,71,75],"subtended":[64],"a":[66,79,111],"leader":[67,127],"plane.":[72],"When":[73],"not":[78],"reliable":[80],"measurement,":[81],"especially":[82],"at":[83],"large":[84],"ranges,":[85],"we":[86,130],"consider":[87],"use":[89],"bearing-only":[91],"information.":[92],"In":[93],"this":[94],"case,":[95],"observability":[96],"with":[97,123,134],"respect":[98,124],"relative":[101],"distance":[102],"vehicles":[104],"accomplished":[106],"design":[109],"time-dependent":[112],"geometry.":[114],"To":[115],"improve":[116],"robustness":[118],"estimation":[121],"process":[122],"unknown":[126],"acceleration,":[129],"augment":[131],"EKF":[133],"an":[135],"adaptive":[136],"neural":[137],"network.":[138],"3-D":[141],"simulation":[142],"results":[143],"are":[144],"presented":[145],"that":[146],"illustrate":[147],"various":[149],"approaches.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
