{"id":"https://openalex.org/W3010706440","doi":"https://doi.org/10.1109/cdc40024.2019.9029757","title":"Leader-Following Formation Control in a Rotating Frame for Agents with Double-Integrator Dynamics: Generalized Stability Results and Experiments","display_name":"Leader-Following Formation Control in a Rotating Frame for Agents with Double-Integrator Dynamics: Generalized Stability Results and Experiments","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3010706440","doi":"https://doi.org/10.1109/cdc40024.2019.9029757","mag":"3010706440"},"language":"en","primary_location":{"id":"doi:10.1109/cdc40024.2019.9029757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9029757","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/A5026055942","display_name":"Zachary S. Lippay","orcid":"https://orcid.org/0000-0001-5312-6916"},"institutions":[{"id":"https://openalex.org/I143302722","display_name":"University of Kentucky","ror":"https://ror.org/02k3smh20","country_code":"US","type":"education","lineage":["https://openalex.org/I143302722"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zachary S. Lippay","raw_affiliation_strings":["Department of Mechanical Engineering, University of Kentucky, Lexington, KY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Kentucky, Lexington, KY, USA","institution_ids":["https://openalex.org/I143302722"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064538163","display_name":"Jesse B. Hoagg","orcid":"https://orcid.org/0000-0002-2302-2152"},"institutions":[{"id":"https://openalex.org/I143302722","display_name":"University of Kentucky","ror":"https://ror.org/02k3smh20","country_code":"US","type":"education","lineage":["https://openalex.org/I143302722"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jesse B. Hoagg","raw_affiliation_strings":["Department of Mechanical Engineering, University of Kentucky, Lexington, KY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Kentucky, Lexington, KY, USA","institution_ids":["https://openalex.org/I143302722"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7438,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.76228338,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"57","issue":null,"first_page":"8236","last_page":"8241"},"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/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.9958999752998352,"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/T10482","display_name":"Mathematical and Theoretical Epidemiology and Ecology Models","score":0.993399977684021,"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/double-integrator","display_name":"Double integrator","score":0.835806667804718},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.726028323173523},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6145882606506348},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.6136637330055237},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.5858176946640015},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.5462328195571899},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4997403621673584},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.49598583579063416},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4732542634010315},{"id":"https://openalex.org/keywords/strongly-connected-component","display_name":"Strongly connected component","score":0.46848854422569275},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.35987478494644165},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3293706774711609},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2962079644203186},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2506055235862732},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2498372197151184},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.16569960117340088},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15319091081619263},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13786843419075012},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12573423981666565}],"concepts":[{"id":"https://openalex.org/C2779323837","wikidata":"https://www.wikidata.org/wiki/Q5300045","display_name":"Double integrator","level":3,"score":0.835806667804718},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.726028323173523},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6145882606506348},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.6136637330055237},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.5858176946640015},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.5462328195571899},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4997403621673584},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.49598583579063416},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4732542634010315},{"id":"https://openalex.org/C38754835","wikidata":"https://www.wikidata.org/wiki/Q2003238","display_name":"Strongly connected component","level":2,"score":0.46848854422569275},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35987478494644165},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3293706774711609},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2962079644203186},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2506055235862732},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2498372197151184},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.16569960117340088},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15319091081619263},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13786843419075012},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12573423981666565},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc40024.2019.9029757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9029757","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1601432867","https://openalex.org/W1964453066","https://openalex.org/W1970786657","https://openalex.org/W1973963158","https://openalex.org/W1982131159","https://openalex.org/W1985431331","https://openalex.org/W1994122308","https://openalex.org/W2004511412","https://openalex.org/W2016910787","https://openalex.org/W2029162591","https://openalex.org/W2034120033","https://openalex.org/W2036571133","https://openalex.org/W2046038843","https://openalex.org/W2055392001","https://openalex.org/W2065632630","https://openalex.org/W2072694395","https://openalex.org/W2084371156","https://openalex.org/W2092465533","https://openalex.org/W2093058682","https://openalex.org/W2111366290","https://openalex.org/W2111838183","https://openalex.org/W2112058052","https://openalex.org/W2115206688","https://openalex.org/W2118753187","https://openalex.org/W2119497361","https://openalex.org/W2125668987","https://openalex.org/W2140751720","https://openalex.org/W2146240297","https://openalex.org/W2162737233","https://openalex.org/W2174070521"],"related_works":["https://openalex.org/W2080488015","https://openalex.org/W4402569967","https://openalex.org/W2347533678","https://openalex.org/W4248598780","https://openalex.org/W4244659545","https://openalex.org/W2116395142","https://openalex.org/W2369204337","https://openalex.org/W2507282821","https://openalex.org/W2883723259","https://openalex.org/W2082019386"],"abstract_inverted_index":{"We":[0,145],"present":[1,147],"a":[2,19,63,74,90,134,158],"formation":[3,155],"control":[4,156],"algorithm":[5,34],"for":[6],"double-integrator":[7],"agents,":[8,48],"where":[9],"the":[10,27,50,56,83,104,109,113,143],"desired":[11,105],"interagent":[12,57],"positions":[13,107],"vary":[14],"in":[15,157],"time":[16],"according":[17],"to":[18,36,82,103,130,133,142],"rotating":[20,159],"coordinate":[21],"frame,":[22],"which":[23],"is":[24],"represented":[25],"by":[26],"rotation":[28],"matrix":[29],"R(t)":[30],"\u2208":[31],"SO(m).":[32],"This":[33],"applies":[35],"formations":[37],"where:":[38],"i)":[39],"each":[40,100],"agent":[41,72,101,129],"has":[42,73],"relative-position-and-velocity":[43],"feedback":[44],"of":[45,76,92,136],"its":[46,77,137],"neighbor":[47,51],"and":[49,79,85,112,139],"sets":[52],"are":[53],"such":[54],"that":[55,99,152],"communication":[58,126],"(i.e.,":[59],"feedback)":[60],"structure":[61],"represents":[62],"strongly":[64],"connected":[65],"directed":[66],"graph;":[67],"ii)":[68],"at":[69],"least":[70],"one":[71],"measurement":[75,91,135],"position":[78,138],"velocity":[80,140],"relative":[81,106,141],"leader;":[84],"iii)":[86],"all":[87],"agents":[88,111],"have":[89,131],"R.":[93],"The":[94],"main":[95],"analytic":[96,119],"result":[97,120],"shows":[98],"converges":[102],"with":[108],"other":[110],"potentially":[114],"moving":[115],"leader.":[116,144],"Notably,":[117],"this":[118],"does":[121],"not":[122],"require":[123],"either":[124],"undirected":[125],"or":[127],"every":[128],"access":[132],"also":[146],"results":[148],"from":[149],"rotorcraft":[150],"experiments":[151],"demonstrate":[153],"leader-following":[154],"frame.":[160]},"counts_by_year":[{"year":2020,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}