{"id":"https://openalex.org/W2001860529","doi":"https://doi.org/10.1109/cdc.2014.7040233","title":"Decentralized formation-tracking control of autonomous vehicles on straight paths","display_name":"Decentralized formation-tracking control of autonomous vehicles on straight paths","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W2001860529","doi":"https://doi.org/10.1109/cdc.2014.7040233","mag":"2001860529"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2014.7040233","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2014.7040233","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"53rd IEEE Conference on Decision and Control","raw_type":"proceedings-article"},"type":"preprint","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/A5090052067","display_name":"Antonio Lor\u0131\u0301a","orcid":"https://orcid.org/0000-0003-4223-9397"},"institutions":[{"id":"https://openalex.org/I102475099","display_name":"Sup\u00e9lec","ror":"https://ror.org/00n7gwn90","country_code":"FR","type":"education","lineage":["https://openalex.org/I102475099"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Antonio Loria","raw_affiliation_strings":["LSS-SUPELEC, Univ Paris-Sud, Gif-sur-Yvette, France","CNRS, LSS\u2010SUPELEC 91192 Gif\u2010sur\u2010Yvette France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LSS-SUPELEC, Univ Paris-Sud, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I102475099"]},{"raw_affiliation_string":"CNRS, LSS\u2010SUPELEC 91192 Gif\u2010sur\u2010Yvette France","institution_ids":["https://openalex.org/I102475099","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050971154","display_name":"Janset Da\u015fdemir","orcid":"https://orcid.org/0000-0003-1886-5240"},"institutions":[{"id":"https://openalex.org/I4101805","display_name":"Y\u0131ld\u0131z Technical University","ror":"https://ror.org/0547yzj13","country_code":"TR","type":"education","lineage":["https://openalex.org/I4101805"]},{"id":"https://openalex.org/I48912391","display_name":"Istanbul Technical University","ror":"https://ror.org/059636586","country_code":"TR","type":"education","lineage":["https://openalex.org/I48912391"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Janset Dasdemir","raw_affiliation_strings":["Technical University turkey","Yildiz Technical University; Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University turkey","institution_ids":["https://openalex.org/I48912391"]},{"raw_affiliation_string":"Yildiz Technical University; Turkey","institution_ids":["https://openalex.org/I4101805"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040939824","display_name":"Nohemi Jarquin-Alvarez","orcid":null},"institutions":[{"id":"https://openalex.org/I102475099","display_name":"Sup\u00e9lec","ror":"https://ror.org/00n7gwn90","country_code":"FR","type":"education","lineage":["https://openalex.org/I102475099"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nohemi Jarquin-Alvarez","raw_affiliation_strings":["LSS-SUPELEC, Univ Paris-Sud, Gif-sur-Yvette, France","Univ Paris-Sud, LSS-SUPELEC, 91192 Gif-sur-Yvette, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LSS-SUPELEC, Univ Paris-Sud, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I102475099"]},{"raw_affiliation_string":"Univ Paris-Sud, LSS-SUPELEC, 91192 Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I102475099"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4032,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.67285937,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"5399","last_page":"5404"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998000264167786,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9990000128746033,"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":0.9955000281333923,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.7253238558769226},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7238526940345764},{"id":"https://openalex.org/keywords/spanning-tree","display_name":"Spanning tree","score":0.7141667008399963},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5691383481025696},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5680480003356934},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5649574995040894},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.49986934661865234},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4879907965660095},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.47499337792396545},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4445026218891144},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4329332113265991},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.38436228036880493},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3802403509616852},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33596885204315186},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2724629044532776},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23210373520851135},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16248705983161926}],"concepts":[{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.7253238558769226},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7238526940345764},{"id":"https://openalex.org/C64331007","wikidata":"https://www.wikidata.org/wiki/Q831672","display_name":"Spanning tree","level":2,"score":0.7141667008399963},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5691383481025696},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5680480003356934},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5649574995040894},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.49986934661865234},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4879907965660095},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.47499337792396545},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4445026218891144},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4329332113265991},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.38436228036880493},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3802403509616852},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33596885204315186},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2724629044532776},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23210373520851135},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16248705983161926},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2014.7040233","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2014.7040233","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"53rd IEEE Conference on Decision and Control","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01357339v1","is_oa":false,"landing_page_url":"https://hal.science/hal-01357339","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"53rd IEEE Annual Conference on Decision and Control (CDC 2014), Dec 2014, Los Angeles, CA, United States. pp.5399-5404, ⟨10.1109/CDC.2014.7040233⟩","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1551896781","https://openalex.org/W1572161815","https://openalex.org/W1971723607","https://openalex.org/W1993436983","https://openalex.org/W1996293513","https://openalex.org/W2013582741","https://openalex.org/W2028044548","https://openalex.org/W2039499494","https://openalex.org/W2066388740","https://openalex.org/W2067603665","https://openalex.org/W2069612046","https://openalex.org/W2097346851","https://openalex.org/W2098692763","https://openalex.org/W2110624723","https://openalex.org/W2119120935","https://openalex.org/W2133066324","https://openalex.org/W2133754447","https://openalex.org/W2147928602","https://openalex.org/W2151563974","https://openalex.org/W2169082695","https://openalex.org/W6643284475"],"related_works":["https://openalex.org/W2996812256","https://openalex.org/W2525543468","https://openalex.org/W2026490863","https://openalex.org/W1996877595","https://openalex.org/W2366743900","https://openalex.org/W2389929639","https://openalex.org/W2369313712","https://openalex.org/W2380496977","https://openalex.org/W2351548249","https://openalex.org/W2099967431"],"abstract_inverted_index":{"We":[0,29],"present":[1],"a":[2,38,42,92],"simple":[3],"leader":[4,101],"follower":[5,104],"tracking":[6,33,70,83],"controller":[7,39],"for":[8,49],"autonomous":[9],"vehicles":[10,86],"following":[11],"straight":[12],"paths.":[13],"The":[14],"difficulty":[15],"of":[16,44,46,81,84,91],"this":[17],"problem":[18,80],"lies":[19],"in":[20],"the":[21,24,54,60,69,73,79,89],"fact":[22],"that":[23,31,65],"system":[25,61],"is":[26,66,75],"not":[27],"controllable.":[28],"show":[30],"global":[32],"may":[34],"be":[35],"achieved":[36],"with":[37,99],"which":[40],"has":[41],"property":[43],"persistency":[45],"excitation,":[47],"tailored":[48],"nonlinear":[50],"systems.":[51],"Roughly":[52],"speaking":[53],"stabilization":[55],"mechanism":[56],"relies":[57],"on":[58,88],"exciting":[59],"by":[62],"an":[63],"amount":[64],"proportional":[67],"to":[68,77],"error.":[71],"Then,":[72],"method":[74],"used":[76],"solve":[78],"formation":[82],"multiple":[85],"interconnected":[87],"basis":[90],"spanning-tree":[93],"topology":[94],"i.e.,":[95],"each":[96],"vehicle":[97],"communicates":[98],"one":[100,103],"and":[102],"only.":[105]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}