{"id":"https://openalex.org/W2922381705","doi":"https://doi.org/10.1109/cdc40024.2019.9029346","title":"Efficient Consensus-based Formation Control With Discrete-Time Broadcast Updates","display_name":"Efficient Consensus-based Formation Control With Discrete-Time Broadcast Updates","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W2922381705","doi":"https://doi.org/10.1109/cdc40024.2019.9029346","mag":"2922381705"},"language":"en","primary_location":{"id":"doi:10.1109/cdc40024.2019.9029346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9029346","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1903.07906","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042359759","display_name":"Fabio Molinari","orcid":"https://orcid.org/0000-0003-2617-962X"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Fabio Molinari","raw_affiliation_strings":["Control Systems Group - Technische Universit\u00e4t, Berlin, Germany","Technical University of Berlin"],"affiliations":[{"raw_affiliation_string":"Control Systems Group - Technische Universit\u00e4t, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]},{"raw_affiliation_string":"Technical University of Berlin","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"last","author":{"id":null,"display_name":"Jorg Raisch","orcid":null},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jorg Raisch","raw_affiliation_strings":["Control Systems Group - Technische Universit\u00e4t, Berlin, Germany","Technical University of Berlin"],"affiliations":[{"raw_affiliation_string":"Control Systems Group - Technische Universit\u00e4t, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]},{"raw_affiliation_string":"Technical University of Berlin","institution_ids":["https://openalex.org/I4577782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5042359759"],"corresponding_institution_ids":["https://openalex.org/I4577782"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02797996,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4172","last_page":"4177"},"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/T10246","display_name":"Mobile Ad Hoc Networks","score":0.9980999827384949,"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/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.9955000281333923,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7171446084976196},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.6489498615264893},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.627588152885437},{"id":"https://openalex.org/keywords/discrete-time-and-continuous-time","display_name":"Discrete time and continuous time","score":0.5388246774673462},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5275390148162842},{"id":"https://openalex.org/keywords/fading","display_name":"Fading","score":0.5209118723869324},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5053167939186096},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4554050862789154},{"id":"https://openalex.org/keywords/control-channel","display_name":"Control channel","score":0.44388219714164734},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.44189971685409546},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.41962799429893494},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.4195364713668823},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.4193729758262634},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3639056086540222},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30544358491897583},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.22540980577468872},{"id":"https://openalex.org/keywords/telecommunications-link","display_name":"Telecommunications link","score":0.11726823449134827},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10196536779403687},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06576237082481384}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7171446084976196},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.6489498615264893},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.627588152885437},{"id":"https://openalex.org/C55689738","wikidata":"https://www.wikidata.org/wiki/Q15963867","display_name":"Discrete time and continuous time","level":2,"score":0.5388246774673462},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5275390148162842},{"id":"https://openalex.org/C81978471","wikidata":"https://www.wikidata.org/wiki/Q1196572","display_name":"Fading","level":3,"score":0.5209118723869324},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5053167939186096},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4554050862789154},{"id":"https://openalex.org/C157607044","wikidata":"https://www.wikidata.org/wiki/Q5165851","display_name":"Control channel","level":3,"score":0.44388219714164734},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.44189971685409546},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.41962799429893494},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.4195364713668823},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.4193729758262634},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3639056086540222},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30544358491897583},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.22540980577468872},{"id":"https://openalex.org/C138660444","wikidata":"https://www.wikidata.org/wiki/Q5607897","display_name":"Telecommunications link","level":2,"score":0.11726823449134827},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10196536779403687},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06576237082481384},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/cdc40024.2019.9029346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9029346","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":"pmh:oai:arXiv.org:1903.07906","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.07906","pdf_url":"https://arxiv.org/pdf/1903.07906","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2922381705","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/1903.07906.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:pure.mpg.de:item_3253488","is_oa":false,"landing_page_url":"http://hdl.handle.net/21.11116/0000-0007-1267-1","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2019 IEEE 58th Conference on Decision and Control (CDC)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.48550/arxiv.1903.07906","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1903.07906","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1903.07906","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.07906","pdf_url":"https://arxiv.org/pdf/1903.07906","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.75}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2922381705.pdf","grobid_xml":"https://content.openalex.org/works/W2922381705.grobid-xml"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W1935362753","https://openalex.org/W1970786657","https://openalex.org/W1981770588","https://openalex.org/W2032803680","https://openalex.org/W2068866314","https://openalex.org/W2082152797","https://openalex.org/W2087039524","https://openalex.org/W2103238267","https://openalex.org/W2107396783","https://openalex.org/W2111324610","https://openalex.org/W2121824962","https://openalex.org/W2165469059","https://openalex.org/W2240310059","https://openalex.org/W2503888626","https://openalex.org/W2904329152","https://openalex.org/W2964338045","https://openalex.org/W4244300861","https://openalex.org/W4295023837","https://openalex.org/W6640485634"],"related_works":["https://openalex.org/W3011266225","https://openalex.org/W1520260380","https://openalex.org/W1992261446","https://openalex.org/W2184408670","https://openalex.org/W2030050264","https://openalex.org/W2084603600","https://openalex.org/W1981080827","https://openalex.org/W2883361896","https://openalex.org/W1987599788","https://openalex.org/W3048376046","https://openalex.org/W1525867856","https://openalex.org/W2157166636","https://openalex.org/W1976875065","https://openalex.org/W2893846747","https://openalex.org/W2985996659","https://openalex.org/W3119003111","https://openalex.org/W3173495818","https://openalex.org/W2568008718","https://openalex.org/W2010933879","https://openalex.org/W1582808169"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,61,90],"consensus-based":[4],"formation":[5],"control":[6],"strategy":[7],"for":[8,89],"autonomous":[9],"agents":[10],"moving":[11],"in":[12],"the":[13,29,33,37,47,58,68,103,106],"plane":[14],"with":[15,57,70,80],"continuous-time":[16,78],"single":[17],"integrator":[18],"dynamics.":[19],"In":[20],"order":[21],"to":[22],"save":[23],"wireless":[24,38],"resources":[25],"(bandwidth,":[26],"energy,":[27],"etc),":[28],"designed":[30],"controller":[31,79],"exploits":[32],"superposition":[34],"property":[35],"of":[36,60,87,92,105],"channel.":[39],"A":[40,77,85],"communication":[41],"system,":[42],"which":[43],"is":[44,64,83,96],"based":[45],"on":[46],"Wireless":[48],"Multiple":[49],"Access":[50],"Channel":[51],"(WMAC)":[52],"model":[53],"and":[54,98],"can":[55],"deal":[56],"presence":[59],"fading":[62],"channel":[63,69],"designed.":[65],"Agents":[66],"access":[67],"simultaneous":[71],"broadcasts":[72],"at":[73],"synchronous":[74],"update":[75],"times.":[76],"discrete-time":[81],"updates":[82],"proposed.":[84],"proof":[86],"convergence":[88],"sequence":[91],"time-varying":[93],"network":[94],"topologies":[95],"given":[97],"simulations":[99],"are":[100],"shown,":[101],"demonstrating":[102],"effectiveness":[104],"suggested":[107],"approach.":[108]},"counts_by_year":[],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}