{"id":"https://openalex.org/W2147274286","doi":"https://doi.org/10.1109/cdc.2007.4434680","title":"Further results on formation infeasibility and velocity alignment","display_name":"Further results on formation infeasibility and velocity alignment","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2147274286","doi":"https://doi.org/10.1109/cdc.2007.4434680","mag":"2147274286"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2007.4434680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434680","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://doi.org/10.1109/CDC.2007.4434680","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055348953","display_name":"Dimos V. Dimarogonas","orcid":"https://orcid.org/0000-0001-7309-8086"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Dimos V. Dimarogonas","raw_affiliation_strings":["Automatic Control Laboratory, School of Electrical Engineering, Royal Institute of Technology, Stockholm, Sweden","R. Inst. of Technol., Stockholm"],"affiliations":[{"raw_affiliation_string":"Automatic Control Laboratory, School of Electrical Engineering, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"R. Inst. of Technol., Stockholm","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012966309","display_name":"Kostas J. Kyriakopoulos","orcid":"https://orcid.org/0000-0002-1229-3029"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Kostas J. Kyriakopoulos","raw_affiliation_strings":["Control Systems Laboratory, Department of Mechanical Engineering, National and Technical University of Athens, Athens, Greece","Department of Mechanical Engineering, National Technical University of Athens, 9 Heroon Polytechniou Street, Zografou, 15780, Greece"],"affiliations":[{"raw_affiliation_string":"Control Systems Laboratory, Department of Mechanical Engineering, National and Technical University of Athens, Athens, Greece","institution_ids":["https://openalex.org/I174458059"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Technical University of Athens, 9 Heroon Polytechniou Street, Zografou, 15780, Greece","institution_ids":["https://openalex.org/I174458059"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5055348953"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.18385825,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1447","last_page":"1452"},"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/T10482","display_name":"Mathematical and Theoretical Epidemiology and Ecology Models","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11252","display_name":"Evolutionary Game Theory and Cooperation","score":0.9781000018119812,"subfield":{"id":"https://openalex.org/subfields/3312","display_name":"Sociology and Political Science"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6726375222206116},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.6310737729072571},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5670850276947021},{"id":"https://openalex.org/keywords/expression","display_name":"Expression (computer science)","score":0.5576693415641785},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5203982591629028},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4714411497116089},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.4445610046386719},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4420027434825897},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.4419354796409607},{"id":"https://openalex.org/keywords/connection","display_name":"Connection (principal bundle)","score":0.4185813367366791},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3552301526069641},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2887175381183624},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2723695635795593},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21401271224021912},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16295495629310608},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1604236662387848},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12935137748718262},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11831492185592651},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09986180067062378},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09630069136619568},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09473350644111633}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6726375222206116},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.6310737729072571},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5670850276947021},{"id":"https://openalex.org/C90559484","wikidata":"https://www.wikidata.org/wiki/Q778379","display_name":"Expression (computer science)","level":2,"score":0.5576693415641785},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5203982591629028},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4714411497116089},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.4445610046386719},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4420027434825897},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.4419354796409607},{"id":"https://openalex.org/C13355873","wikidata":"https://www.wikidata.org/wiki/Q2920850","display_name":"Connection (principal bundle)","level":2,"score":0.4185813367366791},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3552301526069641},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2887175381183624},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2723695635795593},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21401271224021912},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16295495629310608},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1604236662387848},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12935137748718262},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11831492185592651},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09986180067062378},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09630069136619568},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09473350644111633},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2007.4434680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434680","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.lib.ntua.gr:123456789/31921","is_oa":true,"landing_page_url":"http://doi.org/10.1109/CDC.2007.4434680","pdf_url":null,"source":{"id":"https://openalex.org/S4377196837","display_name":"DSpace - NTUA (National Technical University of Athens)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I174458059","host_organization_name":"National Technical University of Athens","host_organization_lineage":["https://openalex.org/I174458059"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the IEEE Conference on Decision and Control","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:dspace.lib.ntua.gr:123456789/31921","is_oa":true,"landing_page_url":"http://doi.org/10.1109/CDC.2007.4434680","pdf_url":null,"source":{"id":"https://openalex.org/S4377196837","display_name":"DSpace - NTUA (National Technical University of Athens)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I174458059","host_organization_name":"National Technical University of Athens","host_organization_lineage":["https://openalex.org/I174458059"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the IEEE Conference on Decision and Control","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W247697463","https://openalex.org/W1493175923","https://openalex.org/W2086794496","https://openalex.org/W2099397914","https://openalex.org/W2105850748","https://openalex.org/W2107396783","https://openalex.org/W2107910011","https://openalex.org/W2112058052","https://openalex.org/W2121622973","https://openalex.org/W2128928412","https://openalex.org/W2130647945","https://openalex.org/W2137642864","https://openalex.org/W2147326597","https://openalex.org/W2150973821","https://openalex.org/W2165744313","https://openalex.org/W2167286525","https://openalex.org/W2168132433","https://openalex.org/W2168527608","https://openalex.org/W2494829543","https://openalex.org/W4236879725","https://openalex.org/W4238591275","https://openalex.org/W6609457598","https://openalex.org/W6672418923","https://openalex.org/W6679547838"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2366352762","https://openalex.org/W2613964090","https://openalex.org/W2032198329","https://openalex.org/W2081322886","https://openalex.org/W1874066705","https://openalex.org/W2380425739","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W2349324463"],"abstract_inverted_index":{"In":[0,41],"previous":[1],"work,":[2],"we":[3,43,116],"deduced":[4],"that":[5,118],"formation":[6,36,58,113],"infeasibility":[7,37,59],"results":[8,31,63,72],"in":[9,12,54,83],"velocity":[10,39,52,126],"alignment":[11],"multi-agent":[13],"systems":[14],"with":[15],"bidirectional":[16],"communication":[17,69],"topology":[18],"and":[19,38,60,121],"single":[20],"integrator":[21],"as":[22,24],"well":[23],"nonholonomic":[25],"kinematics.":[26],"This":[27],"paper":[28],"contains":[29],"additional":[30],"regarding":[32],"the":[33,49,55,62,65,77,85,95,101,104,139],"connection":[34],"between":[35],"alignment.":[40],"particular,":[42],"obtain":[44],"an":[45,130],"analytic":[46,131],"expression":[47,132],"for":[48,99],"resulting":[50],"common":[51,125],"vector":[53],"case":[56,66,78],"of":[57,67,79,90,106,128],"extend":[61],"to":[64,76,103],"unidirectional":[68],"topology.":[70],"The":[71],"are":[73,87,97],"then":[74],"extended":[75],"a":[80,91,107,124],"leader-follower":[81],"architecture":[82],"which":[84,129],"followers":[86,122],"not":[88],"aware":[89],"global":[92],"objective":[93],"while":[94],"leaders":[96,120],"responsible":[98],"driving":[100],"team":[102],"interior":[105],"desired":[108],"leader":[109],"formation.":[110],"When":[111],"this":[112],"is":[114,133],"infeasible,":[115],"show":[117],"both":[119],"attain":[123],"vector,":[127],"also":[134],"provided.":[135],"Computer":[136],"simulations":[137],"support":[138],"derived":[140],"results.":[141]},"counts_by_year":[{"year":2012,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}