{"id":"https://openalex.org/W2039835547","doi":"https://doi.org/10.1109/cdc.2011.6160824","title":"Scaling the size of a multiagent formation via distributed feedback","display_name":"Scaling the size of a multiagent formation via distributed feedback","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2039835547","doi":"https://doi.org/10.1109/cdc.2011.6160824","mag":"2039835547"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2011.6160824","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160824","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/A5010552433","display_name":"Samuel Coogan","orcid":"https://orcid.org/0000-0003-0495-1535"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Samuel Coogan","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","[Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"[Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA]","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025743742","display_name":"Murat Arcak","orcid":"https://orcid.org/0000-0001-9060-4032"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Murat Arcak","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","[Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"[Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA]","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091125105","display_name":"Magnus Egerstedt","orcid":"https://orcid.org/0000-0003-4213-5299"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Magnus Egerstedt","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, USA","School of Electrical and Computer Engineering, Georgia Institute of Technology, , USA"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, , USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5010552433"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":1.8271,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.85845401,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"994","last_page":"999"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":1.0,"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":0.9864000082015991,"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/T11031","display_name":"Game Theory and Applications","score":0.9857000112533569,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6713657975196838},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6135556697845459},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6051648259162903},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5705136060714722},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5473419427871704},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.5269903540611267},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5115652680397034},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5033251643180847},{"id":"https://openalex.org/keywords/group","display_name":"Group (periodic table)","score":0.47674760222435},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.4718480110168457},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.46095871925354004},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44099417328834534},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34956657886505127},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.32404467463493347},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1628262996673584},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16113191843032837}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6713657975196838},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6135556697845459},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6051648259162903},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5705136060714722},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5473419427871704},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.5269903540611267},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5115652680397034},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5033251643180847},{"id":"https://openalex.org/C2781311116","wikidata":"https://www.wikidata.org/wiki/Q83306","display_name":"Group (periodic table)","level":2,"score":0.47674760222435},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.4718480110168457},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.46095871925354004},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44099417328834534},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34956657886505127},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.32404467463493347},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1628262996673584},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16113191843032837},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2011.6160824","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160824","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:smartech.gatech.edu:1853/42394","is_oa":false,"landing_page_url":"http://hdl.handle.net/1853/42394","pdf_url":null,"source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.44999998807907104}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W613360614","https://openalex.org/W1500921805","https://openalex.org/W1512235915","https://openalex.org/W1514337951","https://openalex.org/W1570983058","https://openalex.org/W2097346851","https://openalex.org/W2107396783","https://openalex.org/W2133754447","https://openalex.org/W2146890818","https://openalex.org/W2147539438","https://openalex.org/W2159826786","https://openalex.org/W2160643434","https://openalex.org/W2165744313","https://openalex.org/W2530562927","https://openalex.org/W4295016751","https://openalex.org/W6728454995","https://openalex.org/W7062071732"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W141820298","https://openalex.org/W4360995134","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W3023605104","https://openalex.org/W2383578611"],"abstract_inverted_index":{"We":[0,84,116],"consider":[1],"a":[2,12,17,22,32,43,50,103,135],"multiagent":[3],"coordination":[4],"problem":[5],"where":[6],"the":[7,53,56,61,65,73,96,119,130,143],"objective":[8],"is":[9],"to":[10,60,70,81,92],"steer":[11],"group":[13,77],"of":[14,38,95,102],"agents":[15,58,91],"into":[16],"formation":[18,35,54,66,98],"that":[19,30,89,108,118],"translates":[20],"along":[21,100],"predefined":[23],"trajectory":[24],"velocity.":[25],"Unlike":[26],"previous":[27],"control":[28],"strategies":[29],"require":[31],"static":[33],"desired":[34,39,97,126],"or":[36,79],"set":[37],"formations,":[40],"we":[41,133],"introduce":[42,85],"strategy":[44,121],"in":[45,72,76],"which":[46,138],"one":[47,88,107],"agent":[48],"assigns":[49],"scale":[51,99],"for":[52,124],"and":[55,75,106],"remaining":[57],"adjust":[59],"new":[62],"scale.":[63],"Thus,":[64],"can":[67,139],"dynamically":[68],"adapt":[69],"changes":[71],"environment":[74],"objectives":[78],"respond":[80],"perceived":[82],"threats.":[83],"two":[86],"strategies:":[87],"requires":[90,110],"communicate":[93],"estimates":[94],"edges":[101],"communication":[104],"network":[105],"only":[109],"relative":[111],"position":[112],"sensing":[113],"among":[114],"agents.":[115],"show":[117],"former":[120],"guarantees":[122],"stability":[123],"any":[125],"connected":[127],"formation.":[128],"For":[129],"latter":[131],"strategy,":[132],"present":[134],"geometric":[136],"constraint":[137],"be":[140],"used":[141],"with":[142],"small":[144],"gain":[145],"theorem.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":5},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
