{"id":"https://openalex.org/W2027495926","doi":"https://doi.org/10.1109/cdc.2012.6427103","title":"Modified gradient control for acyclic minimally persistent formations to escape from collinear position","display_name":"Modified gradient control for acyclic minimally persistent formations to escape from collinear position","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W2027495926","doi":"https://doi.org/10.1109/cdc.2012.6427103","mag":"2027495926"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2012.6427103","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2012.6427103","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","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/A5011955979","display_name":"Myoung\u2010Chul Park","orcid":"https://orcid.org/0000-0002-9725-2719"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Myoung-Chul Park","raw_affiliation_strings":["School of Mechatronics, Gwangju Institute of Science and Technology (GIST), 123 Cheomdan-gwagiro, Buk-gu, 500-712, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics, Gwangju Institute of Science and Technology (GIST), 123 Cheomdan-gwagiro, Buk-gu, 500-712, Republic of Korea","institution_ids":["https://openalex.org/I39534123"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081849101","display_name":"Kwang\u2010Kyo Oh","orcid":"https://orcid.org/0000-0003-1020-7286"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kwang-Kyo Oh","raw_affiliation_strings":["School of Mechatronics, Gwangju Institute of Science and Technology (GIST), 123 Cheomdan-gwagiro, Buk-gu, 500-712, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics, Gwangju Institute of Science and Technology (GIST), 123 Cheomdan-gwagiro, Buk-gu, 500-712, Republic of Korea","institution_ids":["https://openalex.org/I39534123"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003982643","display_name":"Hyo\u2010Sung Ahn","orcid":"https://orcid.org/0000-0002-7939-0093"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyo-Sung Ahn","raw_affiliation_strings":["School of Mechatronics, Gwangju Institute of Science and Technology (GIST), 123 Cheomdan-gwagiro, Buk-gu, 500-712, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics, Gwangju Institute of Science and Technology (GIST), 123 Cheomdan-gwagiro, Buk-gu, 500-712, Republic of Korea","institution_ids":["https://openalex.org/I39534123"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2358,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.88263225,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1423","last_page":"1427"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9965999722480774,"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/T10482","display_name":"Mathematical and Theoretical Epidemiology and Ecology Models","score":0.9878000020980835,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6990240812301636},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6297587752342224},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5954734683036804},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5853058099746704},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5651981830596924},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.494505375623703},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30876803398132324},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2200547158718109}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6990240812301636},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6297587752342224},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5954734683036804},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5853058099746704},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5651981830596924},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.494505375623703},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30876803398132324},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2200547158718109},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2012.6427103","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2012.6427103","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1529395605","https://openalex.org/W1938116388","https://openalex.org/W1977438424","https://openalex.org/W2009692318","https://openalex.org/W2022640474","https://openalex.org/W2026661126","https://openalex.org/W2031489836","https://openalex.org/W2046843699","https://openalex.org/W2053741158","https://openalex.org/W2067461601","https://openalex.org/W2070137281","https://openalex.org/W2099094037","https://openalex.org/W2126349300","https://openalex.org/W2130532917","https://openalex.org/W2138296912","https://openalex.org/W2143896563","https://openalex.org/W2147326597","https://openalex.org/W2158424774","https://openalex.org/W6678624639"],"related_works":["https://openalex.org/W1982160337","https://openalex.org/W1971380437","https://openalex.org/W1983548084","https://openalex.org/W2141691317","https://openalex.org/W2110846987","https://openalex.org/W2160609742","https://openalex.org/W2979526210","https://openalex.org/W1997414638","https://openalex.org/W2031091109","https://openalex.org/W2049254832"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,116,126],"consider":[4],"formation":[5],"shape":[6],"control":[7,24,41,47,52,68,101,114],"of":[8,61,98,120],"moving":[9,49],"agents":[10,72,83],"in":[11,43,65,74,107],"the":[12,32,44,48,62,66,71,79,82,87,91,99,104,108,112,118,131],"plane,":[13],"which":[14],"has":[15],"been":[16],"examined":[17],"for":[18],"several":[19],"years.":[20],"We":[21,94],"use":[22],"distance-based":[23],"approach":[25],"to":[26,46,102,123,129],"achieve":[27,130],"desired":[28,132],"formations":[29],"by":[30],"controlling":[31],"relative":[33],"distances":[34],"between":[35],"agents.":[36],"Although":[37],"there":[38],"are":[39,73,127,138],"various":[40],"schemes":[42],"literature":[45],"agents,":[50],"gradient":[51,67,92,100],"shows":[53],"us":[54],"a":[55,96],"quite":[56],"systematic":[57],"way.":[58],"However,":[59],"one":[60],"main":[63],"problems":[64],"happens":[69],"when":[70],"an":[75],"invariant":[76,88],"subset":[77,89],"under":[78,90],"collinearity,":[80],"namely":[81],"cannot":[84],"escape":[85],"from":[86],"control.":[93],"propose":[95],"modification":[97],"solve":[103],"problem":[105],"faced":[106],"preliminary":[109],"literature.":[110],"Using":[111],"proposed":[113],"laws,":[115],"examine":[117],"convergence":[119],"distance":[121],"errors":[122],"confirm":[124],"that":[125],"able":[128],"formations.":[133],"Simulations":[134],"supporting":[135],"our":[136],"results":[137],"provided.":[139]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
