{"id":"https://openalex.org/W1972020554","doi":"https://doi.org/10.1109/cdc.2008.4738760","title":"Stabilization of infinitesimally rigid formations of multi-robot networks","display_name":"Stabilization of infinitesimally rigid formations of multi-robot networks","publication_year":2008,"publication_date":"2008-01-01","ids":{"openalex":"https://openalex.org/W1972020554","doi":"https://doi.org/10.1109/cdc.2008.4738760","mag":"1972020554"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2008.4738760","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2008.4738760","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 47th IEEE Conference on Decision and Control","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/A5024544170","display_name":"Laura Krick","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Laura Krick","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Toronto, Toronto, ONT, Canada","Dept. of Electr. & Comput. Eng., Univ. of Toronto, Toronto, ON, Canada#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Toronto, Toronto, ONT, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Univ. of Toronto, Toronto, ON, Canada#TAB#","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016807277","display_name":"Mireille E. Broucke","orcid":"https://orcid.org/0000-0001-8275-3716"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mireille E. Broucke","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Toronto, Toronto, ONT, Canada","Dept. of Electr. & Comput. Eng., Univ. of Toronto, Toronto, ON, Canada#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Toronto, Toronto, ONT, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Univ. of Toronto, Toronto, ON, Canada#TAB#","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103692639","display_name":"Bruce A. Francis","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Bruce A. Francis","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Toronto, Toronto, ONT, Canada","Dept. of Electr. & Comput. Eng., Univ. of Toronto, Toronto, ON, Canada#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Toronto, Toronto, ONT, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Univ. of Toronto, Toronto, ON, Canada#TAB#","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5024544170"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":5.1326,"has_fulltext":false,"cited_by_count":93,"citation_normalized_percentile":{"value":0.95489624,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"477","last_page":"482"},"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/T11829","display_name":"Mathematical Biology Tumor Growth","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2611","display_name":"Modeling and Simulation"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.9789000153541565,"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/infinitesimal","display_name":"Infinitesimal","score":0.9280275106430054},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.6570971608161926},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6303831934928894},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5109164118766785},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.49759581685066223},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4705776572227478},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.41752195358276367},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4035305976867676},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3715747892856598},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.35225772857666016},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3177255392074585},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2045477330684662},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18463438749313354},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17499807476997375},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16665765643119812},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.16300919651985168}],"concepts":[{"id":"https://openalex.org/C91229774","wikidata":"https://www.wikidata.org/wiki/Q193885","display_name":"Infinitesimal","level":2,"score":0.9280275106430054},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.6570971608161926},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6303831934928894},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5109164118766785},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.49759581685066223},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4705776572227478},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.41752195358276367},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4035305976867676},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3715747892856598},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.35225772857666016},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3177255392074585},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2045477330684662},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18463438749313354},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17499807476997375},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16665765643119812},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.16300919651985168},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2008.4738760","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2008.4738760","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 47th IEEE Conference on Decision and Control","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1509448450","https://openalex.org/W1515707356","https://openalex.org/W1561704653","https://openalex.org/W1574347413","https://openalex.org/W1938116388","https://openalex.org/W1964537835","https://openalex.org/W2002347650","https://openalex.org/W2008995486","https://openalex.org/W2027312585","https://openalex.org/W2053741158","https://openalex.org/W2066603407","https://openalex.org/W2067461601","https://openalex.org/W2105039030","https://openalex.org/W2105850748","https://openalex.org/W2111638077","https://openalex.org/W2140947684","https://openalex.org/W2167485994","https://openalex.org/W4213264637","https://openalex.org/W4249151328","https://openalex.org/W4294967943"],"related_works":["https://openalex.org/W2370598571","https://openalex.org/W2355499472","https://openalex.org/W2349230259","https://openalex.org/W2948176890","https://openalex.org/W1827844156","https://openalex.org/W2068360468","https://openalex.org/W2201246509","https://openalex.org/W2599583908","https://openalex.org/W4302569442","https://openalex.org/W2949837591"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,10,15,23,45],"local":[4,49],"gradient":[5],"control":[6,19],"law":[7],"to":[8,14],"stabilize":[9],"group":[11],"of":[12,52],"robots":[13],"target":[16,36,58],"formation.":[17,37,59],"The":[18],"is":[20,39,44],"derived":[21],"from":[22],"potential":[24],"function":[25],"based":[26],"on":[27],"an":[28],"undirected":[29],"infinitesimally":[30],"rigid":[31],"graph":[32],"that":[33,41],"specifies":[34],"the":[35,53,57],"It":[38],"shown":[40],"infinitesimal":[42],"rigidity":[43],"sufficient":[46],"condition":[47],"for":[48],"asymptotical":[50],"stability":[51],"equilibrium":[54],"manifold":[55],"describing":[56]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
