{"id":"https://openalex.org/W3011258285","doi":"https://doi.org/10.1109/cdc40024.2019.9029178","title":"Formation-oriented Motion Coordination of Multi-agent Systems over Relative Measurements","display_name":"Formation-oriented Motion Coordination of Multi-agent Systems over Relative Measurements","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3011258285","doi":"https://doi.org/10.1109/cdc40024.2019.9029178","mag":"3011258285"},"language":"en","primary_location":{"id":"doi:10.1109/cdc40024.2019.9029178","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9029178","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 58th 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/A5032693556","display_name":"Kazunori Sakurama","orcid":"https://orcid.org/0000-0002-7754-7915"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kazunori Sakurama","raw_affiliation_strings":["Graduate School of Informatics, Kyoto University, Yoshida-honmachi, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Kyoto University, Yoshida-honmachi, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5032693556"],"corresponding_institution_ids":["https://openalex.org/I22299242"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.24090206,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"36","issue":null,"first_page":"2782","last_page":"2787"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9968000054359436,"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/T12158","display_name":"Guidance and Control Systems","score":0.9894999861717224,"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/relative-motion","display_name":"Relative motion","score":0.7616124153137207},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7040524482727051},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.6629582047462463},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6262297630310059},{"id":"https://openalex.org/keywords/bearing","display_name":"Bearing (navigation)","score":0.6151009798049927},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5959530472755432},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.549532949924469},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.5276129245758057},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.4901302754878998},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4632253646850586},{"id":"https://openalex.org/keywords/motion-system","display_name":"Motion system","score":0.4504396617412567},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44925859570503235},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38911595940589905},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3098427355289459},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19617828726768494},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1856127679347992},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08737072348594666},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08729377388954163},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08407595753669739},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08186626434326172}],"concepts":[{"id":"https://openalex.org/C2988640725","wikidata":"https://www.wikidata.org/wiki/Q1376323","display_name":"Relative motion","level":2,"score":0.7616124153137207},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7040524482727051},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.6629582047462463},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6262297630310059},{"id":"https://openalex.org/C199978012","wikidata":"https://www.wikidata.org/wiki/Q1273815","display_name":"Bearing (navigation)","level":2,"score":0.6151009798049927},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5959530472755432},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.549532949924469},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.5276129245758057},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.4901302754878998},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4632253646850586},{"id":"https://openalex.org/C100673868","wikidata":"https://www.wikidata.org/wiki/Q6917799","display_name":"Motion system","level":3,"score":0.4504396617412567},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44925859570503235},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38911595940589905},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3098427355289459},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19617828726768494},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1856127679347992},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08737072348594666},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08729377388954163},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08407595753669739},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08186626434326172},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc40024.2019.9029178","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9029178","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 58th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"mag:3041085123","is_oa":false,"landing_page_url":"https://jglobal.jst.go.jp/en/detail?JGLOBAL_ID=202002273963915178","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1529395605","https://openalex.org/W1973573057","https://openalex.org/W1981826826","https://openalex.org/W2017561180","https://openalex.org/W2020909728","https://openalex.org/W2119568445","https://openalex.org/W2130532917","https://openalex.org/W2138296912","https://openalex.org/W2150735912","https://openalex.org/W2344138660","https://openalex.org/W2496562802","https://openalex.org/W2497209745","https://openalex.org/W2904995204","https://openalex.org/W2964045297"],"related_works":["https://openalex.org/W3199991774","https://openalex.org/W1989915561","https://openalex.org/W2018788704","https://openalex.org/W2363100562","https://openalex.org/W2377830937","https://openalex.org/W285073821","https://openalex.org/W2329155787","https://openalex.org/W2789641061","https://openalex.org/W2362304986","https://openalex.org/W3011258285"],"abstract_inverted_index":{"This":[0,41,69],"paper":[1],"addresses":[2],"a":[3,10,47,89,98,101,115],"formation-oriented":[4,130],"motion":[5,103,131],"control":[6,16,112],"problem,":[7,123],"which":[8,76,108,124],"is":[9,20,27,35,57,80,106,118,140],"class":[11],"of":[12,25,64,136],"velocity":[13],"assigned":[14],"formation":[15,111],"problems.":[17,113],"The":[18],"point":[19],"that":[21,53],"the":[22,38,51,54,77,121,129,134,137],"desired":[23,90],"direction":[24],"movement":[26],"not":[28,58],"given":[29],"by":[30,37,82],"an":[31],"absolute":[32,55,78,91],"bearing,":[33],"but":[34,60],"oriented":[36],"achieved":[39],"formation.":[40],"setting":[42],"allows":[43],"us":[44],"to":[45,86,128],"design":[46],"relative":[48,62],"controller":[49,117],"in":[50,97],"sense":[52],"bearing":[56,79],"necessary":[59],"only":[61],"states":[63],"other":[65],"agents":[66],"are":[67],"required.":[68],"property":[70],"contrasts":[71],"with":[72,75],"conventional":[73],"controllers":[74],"required":[81],"at":[83],"least":[84],"leaders":[85],"maneuver":[87],"toward":[88],"direction.":[92],"To":[93],"solve":[94],"this":[95],"problem":[96,105],"systematic":[99],"way,":[100],"generalized":[102,122],"coordination":[104],"formulated,":[107],"describes":[109],"various":[110],"Then,":[114],"gradient-based":[116],"designed":[119],"for":[120],"can":[125],"be":[126],"applied":[127],"control.":[132],"Finally,":[133],"effectiveness":[135],"proposed":[138],"method":[139],"demonstrated":[141],"through":[142],"simulations.":[143]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}