{"id":"https://openalex.org/W1995938954","doi":"https://doi.org/10.1109/cdc.2011.6160783","title":"Lyapunov-based cooperative avoidance control for multiple Lagrangian systems with bounded sensing uncertainties","display_name":"Lyapunov-based cooperative avoidance control for multiple Lagrangian systems with bounded sensing uncertainties","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W1995938954","doi":"https://doi.org/10.1109/cdc.2011.6160783","mag":"1995938954"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2011.6160783","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160783","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/A5056000399","display_name":"Erick J. Rodr\u00edguez-Seda","orcid":"https://orcid.org/0000-0003-1108-4329"},"institutions":[{"id":"https://openalex.org/I162577319","display_name":"The University of Texas at Dallas","ror":"https://ror.org/049emcs32","country_code":"US","type":"education","lineage":["https://openalex.org/I162577319"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Erick J. Rodriguez-Seda","raw_affiliation_strings":["School of Engineering and Computer Science, University of Texas, Dallas, TX, USA","School of Engineering and Computer Science, University of Texas, Dallas, 75080, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Computer Science, University of Texas, Dallas, TX, USA","institution_ids":["https://openalex.org/I162577319"]},{"raw_affiliation_string":"School of Engineering and Computer Science, University of Texas, Dallas, 75080, USA","institution_ids":["https://openalex.org/I162577319"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046079000","display_name":"Du\u0161an M. Stipanovi\u0107","orcid":"https://orcid.org/0000-0002-2826-5241"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dusan M. Stipanovic","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois, Urbana, IL, USA","Coordinated Science Laboratory, University of Illinois, 1308 W. Main St., Urbana, 61801, USA"],"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois, 1308 W. Main St., Urbana, 61801, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079586632","display_name":"Mark W. Spong","orcid":"https://orcid.org/0000-0003-4626-2295"},"institutions":[{"id":"https://openalex.org/I162577319","display_name":"The University of Texas at Dallas","ror":"https://ror.org/049emcs32","country_code":"US","type":"education","lineage":["https://openalex.org/I162577319"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark W. Spong","raw_affiliation_strings":["School of Engineering and Computer Science, University of Texas, Dallas, TX, USA","School of Engineering and Computer Science, University of Texas, Dallas, 75080, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Computer Science, University of Texas, Dallas, TX, USA","institution_ids":["https://openalex.org/I162577319"]},{"raw_affiliation_string":"School of Engineering and Computer Science, University of Texas, Dallas, 75080, USA","institution_ids":["https://openalex.org/I162577319"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5056000399"],"corresponding_institution_ids":["https://openalex.org/I162577319"],"apc_list":null,"apc_paid":null,"fwci":2.4505,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.88950447,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"9","issue":null,"first_page":"4207","last_page":"4213"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9987999796867371,"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":0.9987999796867371,"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":0.9973000288009644,"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":0.9872000217437744,"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/bounded-function","display_name":"Bounded function","score":0.8456607460975647},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.8140608668327332},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6646886467933655},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6040741801261902},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5353178381919861},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5085917711257935},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4915054738521576},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4537794888019562},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4122657775878906},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3498365879058838},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3230632543563843},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24422603845596313},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.22804012894630432},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10932984948158264}],"concepts":[{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.8456607460975647},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8140608668327332},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6646886467933655},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6040741801261902},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5353178381919861},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5085917711257935},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4915054738521576},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4537794888019562},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4122657775878906},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3498365879058838},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3230632543563843},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24422603845596313},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.22804012894630432},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10932984948158264},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2011.6160783","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160783","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1611476298","https://openalex.org/W1986689506","https://openalex.org/W1999050017","https://openalex.org/W2043022059","https://openalex.org/W2059357989","https://openalex.org/W2090294823","https://openalex.org/W2106946847","https://openalex.org/W2107340437","https://openalex.org/W2108239802","https://openalex.org/W2116364955","https://openalex.org/W2150839555","https://openalex.org/W2157304242","https://openalex.org/W3215609958","https://openalex.org/W4233979879","https://openalex.org/W6636175460"],"related_works":["https://openalex.org/W2889566344","https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W2743212448","https://openalex.org/W4310743282","https://openalex.org/W3046417820","https://openalex.org/W2537110013","https://openalex.org/W583309402","https://openalex.org/W2354782112","https://openalex.org/W4240939996"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,10,46],"decentralized,":[3],"real-time,":[4],"cooperative":[5,57],"avoidance":[6,35,58],"control":[7,18,28,36,67,99],"law":[8],"for":[9,45],"group":[11,47],"of":[12,34,48,55,96],"nonlinear":[13],"Lagrangian":[14],"systems":[15],"with":[16,51,64],"bounded":[17,24],"inputs,":[19],"limited":[20],"sensing":[21,25,52],"ranges,":[22],"and":[23,37,69,81],"errors.":[26],"The":[27],"formulation":[29],"builds":[30],"on":[31,73],"the":[32,56,74,94,97],"concept":[33],"uses":[38],"Lyapunov-based":[39],"analysis":[40],"to":[41],"guarantee":[42],"collision-free":[43],"trajectories":[44],"N":[49],"vehicles":[50,80],"uncertainties.":[53],"Advantages":[54],"strategy":[59],"include":[60],"its":[61,70],"easy":[62],"synthesis":[63],"other":[65,79],"stable":[66],"laws":[68],"null":[71],"effect":[72],"agent's":[75],"main":[76],"task":[77],"when":[78],"obstacles":[82],"are":[83,89],"sufficiently":[84],"away.":[85],"Two":[86],"numerical":[87],"examples":[88],"finally":[90],"presented":[91],"that":[92],"illustrate":[93],"performance":[95],"proposed":[98],"framework.":[100]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":5},{"year":2013,"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"}