{"id":"https://openalex.org/W2093976773","doi":"https://doi.org/10.1109/cdc.2011.6160743","title":"Stabilization of rigid formations with direction-only constraints","display_name":"Stabilization of rigid formations with direction-only constraints","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2093976773","doi":"https://doi.org/10.1109/cdc.2011.6160743","mag":"2093976773"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2011.6160743","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160743","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","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/A5110307296","display_name":"Adrian N. Bishop","orcid":null},"institutions":[{"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"]},{"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/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["AU","SE"],"is_corresponding":true,"raw_author_name":"Adrian N. Bishop","raw_affiliation_strings":["KTH Royal Institute of Technology, Sweden","NICTA, Canberra Research Laboratory, Australian National University, Australia"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"NICTA, Canberra Research Laboratory, Australian National University, Australia","institution_ids":["https://openalex.org/I118347636","https://openalex.org/I42894916"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010259253","display_name":"Iman Shames","orcid":"https://orcid.org/0000-0001-7308-3546"},"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"]},{"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":["AU","SE"],"is_corresponding":false,"raw_author_name":"Iman Shames","raw_affiliation_strings":["KTH Royal Institute of Technology, Sweden","NICTA, Canberra Research Laboratory, Australian National University, Australia"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"NICTA, Canberra Research Laboratory, Australian National University, Australia","institution_ids":["https://openalex.org/I118347636","https://openalex.org/I42894916"]}]},{"author_position":"last","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/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]},{"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","SE"],"is_corresponding":false,"raw_author_name":"Brian D.O. Anderson","raw_affiliation_strings":["KTH Royal Institute of Technology, Sweden","NICTA, Canberra Research Laboratory, Australian National University, Australia"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"NICTA, Canberra Research Laboratory, Australian National University, Australia","institution_ids":["https://openalex.org/I118347636","https://openalex.org/I42894916"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5110307296"],"corresponding_institution_ids":["https://openalex.org/I118347636","https://openalex.org/I42894916","https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":6.5585,"has_fulltext":false,"cited_by_count":88,"citation_normalized_percentile":{"value":0.96826299,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"746","last_page":"752"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11870","display_name":"Structural Analysis and Optimization","score":0.9585000276565552,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/rigidity","display_name":"Rigidity (electromagnetism)","score":0.6677232384681702},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5980687737464905},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5273231863975525},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.514677107334137},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5130707025527954},{"id":"https://openalex.org/keywords/bearing","display_name":"Bearing (navigation)","score":0.47824516892433167},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4458438456058502},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4331486225128174},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1937119960784912},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.16053828597068787},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15428411960601807},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.0687960684299469}],"concepts":[{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.6677232384681702},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5980687737464905},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5273231863975525},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.514677107334137},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5130707025527954},{"id":"https://openalex.org/C199978012","wikidata":"https://www.wikidata.org/wiki/Q1273815","display_name":"Bearing (navigation)","level":2,"score":0.47824516892433167},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4458438456058502},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4331486225128174},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1937119960784912},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.16053828597068787},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15428411960601807},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0687960684299469},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc.2011.6160743","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160743","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:openresearch-repository.anu.edu.au:1885/64236","is_oa":false,"landing_page_url":"http://hdl.handle.net/1885/64236","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 the IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011)","raw_type":"Conference paper"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/119670","is_oa":false,"landing_page_url":"http://hdl.handle.net/10453/119670","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1483882723","https://openalex.org/W1569609193","https://openalex.org/W1581205238","https://openalex.org/W1975013860","https://openalex.org/W2008995486","https://openalex.org/W2031489836","https://openalex.org/W2053741158","https://openalex.org/W2067461601","https://openalex.org/W2071593230","https://openalex.org/W2105024877","https://openalex.org/W2118280315","https://openalex.org/W2122585669","https://openalex.org/W2126349300","https://openalex.org/W2130532917","https://openalex.org/W2138296912","https://openalex.org/W2141562024","https://openalex.org/W2143896563","https://openalex.org/W2171867977","https://openalex.org/W4294967943","https://openalex.org/W6668217268","https://openalex.org/W6677595038","https://openalex.org/W6678329146","https://openalex.org/W6678624639"],"related_works":["https://openalex.org/W2626846570","https://openalex.org/W2068558458","https://openalex.org/W2035937180","https://openalex.org/W3204534828","https://openalex.org/W3196220745","https://openalex.org/W1541799442","https://openalex.org/W2369416114","https://openalex.org/W1974121318","https://openalex.org/W2027078051","https://openalex.org/W3114990795"],"abstract_inverted_index":{"Direction-based":[0],"formation":[1,20,49,86],"shape":[2,50],"control":[3,15,43,51,55,87],"for":[4],"a":[5,41,100],"collection":[6],"of":[7,13,40,63,81,102],"autonomous":[8],"agents":[9],"involves":[10],"the":[11,19,38,47,61,82],"design":[12,39],"distributed":[14,42],"laws":[16],"that":[17,23],"ensure":[18],"moves":[21],"so":[22],"certain":[24],"relative":[25],"bearing":[26],"constraints":[27,90],"achieve,":[28],"and":[29,68,76,99],"maintain,":[30],"some":[31],"desired":[32],"value.":[33],"This":[34,71],"paper":[35],"looks":[36],"at":[37],"scheme":[44],"to":[45,79],"solve":[46],"direction-based":[48],"problem.":[52],"A":[53,94],"gradient":[54],"law":[56],"is":[57,97],"proposed":[58],"based":[59],"on":[60],"notion":[62],"bearing-only":[64],"constrained":[65],"graph":[66],"rigidity":[67],"parallel":[69],"drawings.":[70],"work":[72,84],"provides":[73],"an":[74],"interesting":[75],"novel":[77],"contrast":[78],"much":[80],"existing":[83],"in":[85],"where":[88],"distance-only":[89],"are":[91,105],"typically":[92],"maintained.":[93],"stability":[95],"analysis":[96],"sketched":[98],"number":[101],"illustrative":[103],"examples":[104],"also":[106],"given.":[107]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":11},{"year":2015,"cited_by_count":14},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}