{"id":"https://openalex.org/W2124918567","doi":"https://doi.org/10.1109/cdc.2010.5717824","title":"Controllability properties for aircraft formations","display_name":"Controllability properties for aircraft formations","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2124918567","doi":"https://doi.org/10.1109/cdc.2010.5717824","mag":"2124918567"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2010.5717824","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2010.5717824","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"49th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/3430184","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101446999","display_name":"Huifang Wang","orcid":"https://orcid.org/0000-0002-4060-8649"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Huifang Wang","raw_affiliation_strings":["Interdepartmental Research Center Enrico Piaggio, University of Pisa, Pisa, Italy","Interdepartmental Research Center \u201cEnrico Piaggio\u201d, University of Pisa, 56100, Italy"],"affiliations":[{"raw_affiliation_string":"Interdepartmental Research Center Enrico Piaggio, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]},{"raw_affiliation_string":"Interdepartmental Research Center \u201cEnrico Piaggio\u201d, University of Pisa, 56100, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003804011","display_name":"Lucia Pallottino","orcid":"https://orcid.org/0000-0002-9480-8857"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lucia Pallottino","raw_affiliation_strings":["Interdepartmental Research Center Enrico Piaggio, University of Pisa, Pisa, Italy","Interdepartmental Research Center \u201cEnrico Piaggio\u201d, University of Pisa, 56100, Italy"],"affiliations":[{"raw_affiliation_string":"Interdepartmental Research Center Enrico Piaggio, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]},{"raw_affiliation_string":"Interdepartmental Research Center \u201cEnrico Piaggio\u201d, University of Pisa, 56100, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Bicchi","raw_affiliation_strings":["Interdepartmental Research Center Enrico Piaggio, University of Pisa, Pisa, Italy","Interdepartmental Research Center \u201cEnrico Piaggio\u201d, University of Pisa, 56100, Italy"],"affiliations":[{"raw_affiliation_string":"Interdepartmental Research Center Enrico Piaggio, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]},{"raw_affiliation_string":"Interdepartmental Research Center \u201cEnrico Piaggio\u201d, University of Pisa, 56100, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101446999"],"corresponding_institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"],"apc_list":null,"apc_paid":null,"fwci":0.7122,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.74160634,"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":"2047","last_page":"2054"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"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"}},{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9959999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.9833341836929321},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.7180116176605225},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6957367062568665},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.62160325050354},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.614879846572876},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5753487348556519},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5687009692192078},{"id":"https://openalex.org/keywords/constant-curvature","display_name":"Constant curvature","score":0.5169321894645691},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4567888379096985},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4401164948940277},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3601665794849396},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3576148748397827},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.32427531480789185},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3125244975090027},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.3075304329395294},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20662644505500793},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1919601559638977},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.1815977692604065},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1726161241531372},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.11745047569274902}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.9833341836929321},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.7180116176605225},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6957367062568665},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.62160325050354},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.614879846572876},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5753487348556519},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5687009692192078},{"id":"https://openalex.org/C2779668893","wikidata":"https://www.wikidata.org/wiki/Q2250422","display_name":"Constant curvature","level":3,"score":0.5169321894645691},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4567888379096985},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4401164948940277},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3601665794849396},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3576148748397827},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.32427531480789185},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3125244975090027},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.3075304329395294},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20662644505500793},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1919601559638977},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.1815977692604065},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1726161241531372},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.11745047569274902},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc.2010.5717824","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2010.5717824","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"49th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arpi.unipi.it:11568/194276","is_oa":false,"landing_page_url":"http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5717824","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:zenodo.org:3430184","is_oa":true,"landing_page_url":"https://zenodo.org/record/3430184","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:3430184","is_oa":true,"landing_page_url":"https://zenodo.org/record/3430184","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1484739396","https://openalex.org/W1553616171","https://openalex.org/W1633338931","https://openalex.org/W1887006513","https://openalex.org/W1908957627","https://openalex.org/W1971998222","https://openalex.org/W2018284512","https://openalex.org/W2048144228","https://openalex.org/W2055014394","https://openalex.org/W2104348212","https://openalex.org/W2113755254","https://openalex.org/W2119120935","https://openalex.org/W2131310337","https://openalex.org/W2132242891","https://openalex.org/W2136971837","https://openalex.org/W2147928602","https://openalex.org/W2162441454","https://openalex.org/W2313274380","https://openalex.org/W2611243847","https://openalex.org/W3160954918","https://openalex.org/W4292872153","https://openalex.org/W6654872976","https://openalex.org/W6662384900"],"related_works":["https://openalex.org/W2036697162","https://openalex.org/W2140812588","https://openalex.org/W2411113819","https://openalex.org/W2072887367","https://openalex.org/W2332386680","https://openalex.org/W1568307077","https://openalex.org/W2152432594","https://openalex.org/W3111769232","https://openalex.org/W2948699889","https://openalex.org/W2044124817"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"the":[3,58,76,106,114],"controllability":[4,32,115],"of":[5,7,30,33,60,63,84,100,105,121],"formations":[6,120],"n":[8,122],"identical":[9],"aircraft":[10,64,85],"maintaining":[11,65],"constant":[12,23,67],"distances.":[13],"Aircraft":[14],"are":[15,36,49],"modeled":[16],"as":[17],"a":[18,61,66,70,82,103],"planar":[19],"kinematic":[20],"system":[21,35,42],"with":[22,43,57],"velocity":[24],"and":[25,45],"curvature":[26],"bounds.":[27],"The":[28],"challenges":[29],"achieving":[31],"such":[34],"that":[37,74],"it":[38],"is":[39,79,86,109],"an":[40],"affine":[41],"drift":[44],"its":[46,52],"admissible":[47],"controls":[48],"determined":[50],"by":[51],"configuration":[53],"variables.":[54],"We":[55],"begin":[56],"study":[59],"pair":[62,83],"distance.":[68],"As":[69],"result,":[71],"we":[72,112],"show":[73],"if":[75],"specified":[77],"distance":[78],"sufficiently":[80],"large,":[81],"completely":[87],"controllable,":[88],"i.e.":[89],"can":[90],"be":[91],"steered":[92],"between":[93],"any":[94],"two":[95],"arbitrary":[96],"configurations.":[97],"In":[98],"case":[99],"small":[101],"distances,":[102],"description":[104],"reachable":[107],"sets":[108],"provided.":[110],"Finally,":[111],"provide":[113],"results":[116],"for":[117],"three":[118],"basic":[119],"aircraft.":[123]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}