{"id":"https://openalex.org/W2099094037","doi":"https://doi.org/10.1109/cdc.2008.4738979","title":"Control of acyclic formations of mobile autonomous agents","display_name":"Control of acyclic formations of mobile autonomous agents","publication_year":2008,"publication_date":"2008-01-01","ids":{"openalex":"https://openalex.org/W2099094037","doi":"https://doi.org/10.1109/cdc.2008.4738979","mag":"2099094037"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2008.4738979","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2008.4738979","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":true,"oa_status":"green","oa_url":"https://research.rug.nl/en/publications/c9108d4e-d39e-429c-b342-6ba8bf2dd078","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021403340","display_name":"Ming Cao","orcid":"https://orcid.org/0000-0001-5472-562X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"M. Cao","raw_affiliation_strings":["Faculty of Mathematics and Natural Sciences, ITM, University of Groningam, Netherlands"],"affiliations":[{"raw_affiliation_string":"Faculty of Mathematics and Natural Sciences, ITM, University of Groningam, Netherlands","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015736743","display_name":"Brian D. O. Anderson","orcid":"https://orcid.org/0000-0002-1493-4774"},"institutions":[{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"B. D. O. Anderson","raw_affiliation_strings":["Research School of Information Sciences and Engineering, Australian National University, Australia","Research School of Information Sciences and Engineering, NICTA, Australia"],"affiliations":[{"raw_affiliation_string":"Research School of Information Sciences and Engineering, Australian National University, Australia","institution_ids":["https://openalex.org/I118347636"]},{"raw_affiliation_string":"Research School of Information Sciences and Engineering, NICTA, Australia","institution_ids":["https://openalex.org/I42894916"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078535932","display_name":"A. Stephen Morse","orcid":"https://orcid.org/0000-0002-6796-7967"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. S. Morse","raw_affiliation_strings":["Department of Electrical Engineering, Yale University, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Yale University, USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003451705","display_name":"Changbin Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"C. Yu","raw_affiliation_strings":["Research School of Information Sciences and Engineering, Australian National University, Australia","Research School of Information Sciences and Engineering, NICTA, Australia"],"affiliations":[{"raw_affiliation_string":"Research School of Information Sciences and Engineering, Australian National University, Australia","institution_ids":["https://openalex.org/I118347636"]},{"raw_affiliation_string":"Research School of Information Sciences and Engineering, NICTA, Australia","institution_ids":["https://openalex.org/I42894916"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5021403340"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.0054,"has_fulltext":false,"cited_by_count":94,"citation_normalized_percentile":{"value":0.9754379,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9883000254631042,"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/manifold","display_name":"Manifold (fluid mechanics)","score":0.5341410040855408},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5277472138404846},{"id":"https://openalex.org/keywords/directed-acyclic-graph","display_name":"Directed acyclic graph","score":0.5245040655136108},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.5143819451332092},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5016741752624512},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.4913264811038971},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4804224967956543},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4689366817474365},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46671196818351746},{"id":"https://openalex.org/keywords/directed-graph","display_name":"Directed graph","score":0.4518893361091614},{"id":"https://openalex.org/keywords/limit-cycle","display_name":"Limit cycle","score":0.43338069319725037},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4319356381893158},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.39442986249923706},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36194008588790894},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3298962414264679},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.20705342292785645},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1771964132785797},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17161867022514343},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.17003899812698364},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.14821085333824158},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14550265669822693},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.14059457182884216},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09223490953445435}],"concepts":[{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.5341410040855408},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5277472138404846},{"id":"https://openalex.org/C74197172","wikidata":"https://www.wikidata.org/wiki/Q1195339","display_name":"Directed acyclic graph","level":2,"score":0.5245040655136108},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.5143819451332092},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5016741752624512},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.4913264811038971},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4804224967956543},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4689366817474365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46671196818351746},{"id":"https://openalex.org/C146380142","wikidata":"https://www.wikidata.org/wiki/Q1137726","display_name":"Directed graph","level":2,"score":0.4518893361091614},{"id":"https://openalex.org/C93357160","wikidata":"https://www.wikidata.org/wiki/Q1545916","display_name":"Limit cycle","level":3,"score":0.43338069319725037},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4319356381893158},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.39442986249923706},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36194008588790894},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3298962414264679},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.20705342292785645},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1771964132785797},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17161867022514343},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.17003899812698364},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.14821085333824158},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14550265669822693},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.14059457182884216},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09223490953445435},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/cdc.2008.4738979","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2008.4738979","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"},{"id":"pmh:oai:pure.rug.nl:openaire/c9108d4e-d39e-429c-b342-6ba8bf2dd078","is_oa":true,"landing_page_url":"https://research.rug.nl/en/publications/c9108d4e-d39e-429c-b342-6ba8bf2dd078","pdf_url":null,"source":{"id":"https://openalex.org/S4306400420","display_name":"University of Groningen research database (University of Groningen / Centre for Information Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169381384","host_organization_name":"University of Groningen","host_organization_lineage":["https://openalex.org/I169381384"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Cao, M, Anderson, B D O, Morse, A S & Yu, C 2008, Control of Acyclic Formations of Mobile Autonomous Agents. in 47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008). IEEE Conference on Decision and Control, IEEE (The Institute of Electrical and Electronics Engineers), NEW YORK, pp. 1187-1192, 47th IEEE Conference on Decision and Control, Mexico, 09/12/2008.","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.586.4453","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.586.4453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://itm.eldoc.ub.rug.nl/FILES/root/2008/2008C19CDCMexCao/2008C19CDCMexCao.pdf","raw_type":"text"},{"id":"pmh:oai:openresearch-repository.anu.edu.au:1885/51494","is_oa":false,"landing_page_url":"http://hdl.handle.net/1885/51494","pdf_url":null,"source":{"id":"https://openalex.org/S4306402539","display_name":"ANU Open Research (Australian National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I118347636","host_organization_name":"Australian National University","host_organization_lineage":["https://openalex.org/I118347636"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of IEEE Conference on Decision and Control 2008","raw_type":"Conference paper"}],"best_oa_location":{"id":"pmh:oai:pure.rug.nl:openaire/c9108d4e-d39e-429c-b342-6ba8bf2dd078","is_oa":true,"landing_page_url":"https://research.rug.nl/en/publications/c9108d4e-d39e-429c-b342-6ba8bf2dd078","pdf_url":null,"source":{"id":"https://openalex.org/S4306400420","display_name":"University of Groningen research database (University of Groningen / Centre for Information Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169381384","host_organization_name":"University of Groningen","host_organization_lineage":["https://openalex.org/I169381384"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Cao, M, Anderson, B D O, Morse, A S & Yu, C 2008, Control of Acyclic Formations of Mobile Autonomous Agents. in 47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008). IEEE Conference on Decision and Control, IEEE (The Institute of Electrical and Electronics Engineers), NEW YORK, pp. 1187-1192, 47th IEEE Conference on Decision and Control, Mexico, 09/12/2008.","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G6894402473","display_name":null,"funder_award_id":"Fellowship","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320310369","display_name":"National ICT Australia","ror":"https://ror.org/03q397159"},{"id":"https://openalex.org/F4320315885","display_name":"Australian Government","ror":"https://ror.org/0314h5y94"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1483882723","https://openalex.org/W1581205238","https://openalex.org/W1970829643","https://openalex.org/W1972020554","https://openalex.org/W2007403280","https://openalex.org/W2031489836","https://openalex.org/W2053741158","https://openalex.org/W2077894091","https://openalex.org/W2097870116","https://openalex.org/W2110209467","https://openalex.org/W2114871659","https://openalex.org/W2122585669","https://openalex.org/W2138296912","https://openalex.org/W2165413656","https://openalex.org/W3145128584","https://openalex.org/W4251635709","https://openalex.org/W4372046852","https://openalex.org/W6678329146"],"related_works":["https://openalex.org/W2146569528","https://openalex.org/W1998712144","https://openalex.org/W4287028074","https://openalex.org/W4214487273","https://openalex.org/W2106828717","https://openalex.org/W3191289342","https://openalex.org/W4300165677","https://openalex.org/W4297817344","https://openalex.org/W4292730466","https://openalex.org/W2372211403"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"distributed":[3],"control":[4,83,112],"laws":[5],"for":[6,20,74,100],"maintaining":[7],"the":[8,18,22,55,66,81],"shape":[9,24],"of":[10,13,29,36,54,58,78,110],"a":[11,75,88,93,111],"formation":[12,89],"mobile":[14],"autonomous":[15],"agents":[16,59],"in":[17,27,65,96],"plane":[19],"which":[21,101],"desired":[23],"is":[25,49,62,70,117],"defined":[26],"terms":[28],"prescribed":[30],"distances":[31],"between":[32],"appropriately":[33],"chosen":[34],"pairs":[35],"agents.":[37],"The":[38,107],"formations":[39],"considered":[40],"are":[41,105],"directed":[42],"and":[43,60],"acyclic":[44],"where":[45],"each":[46],"given":[47],"distance":[48,103],"maintained":[50],"by":[51],"only":[52],"one":[53],"associated":[56],"pair":[57],"there":[61],"no":[63],"cycle":[64],"sensing":[67],"graph.":[68],"It":[69],"shown":[71],"that,":[72],"except":[73],"thin":[76],"set":[77],"initial":[79],"positions,":[80],"gradient-like":[82],"law":[84,113],"can":[85],"always":[86],"cause":[87],"to":[90,92],"converge":[91],"finite":[94],"limit":[95],"an":[97],"equilibrium":[98],"manifold":[99],"all":[102],"constraints":[104],"satisfied.":[106],"potential":[108],"applicability":[109],"using":[114],"target":[115],"positions":[116],"also":[118],"discussed.":[119]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":13},{"year":2013,"cited_by_count":11},{"year":2012,"cited_by_count":7}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
