{"id":"https://openalex.org/W4210671027","doi":"https://doi.org/10.1109/cdc45484.2021.9682816","title":"Formation Control of Mechanical Multi-agent Systems under Relative Measurements and its Application to Robotic Manipulators","display_name":"Formation Control of Mechanical Multi-agent Systems under Relative Measurements and its Application to Robotic Manipulators","publication_year":2021,"publication_date":"2021-12-14","ids":{"openalex":"https://openalex.org/W4210671027","doi":"https://doi.org/10.1109/cdc45484.2021.9682816"},"language":"en","primary_location":{"id":"doi:10.1109/cdc45484.2021.9682816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9682816","pdf_url":null,"source":{"id":"https://openalex.org/S4363607724","display_name":"2021 60th IEEE Conference on Decision and Control (CDC)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 60th 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/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"]},{"id":"https://openalex.org/I39012071","display_name":"Kyoto College of Graduate Studies for Informatics","ror":"https://ror.org/05mzj8a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I39012071"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kazunori Sakurama","raw_affiliation_strings":["Graduate School of Informatics, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I39012071","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","https://openalex.org/I39012071"],"apc_list":null,"apc_paid":null,"fwci":0.616,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.59492411,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"6445","last_page":"6450"},"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":0.9866999983787537,"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":0.9801999926567078,"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/task","display_name":"Task (project management)","score":0.6861864328384399},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.5788034796714783},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5783749222755432},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5436001420021057},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.5413889288902283},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5240483283996582},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.5005795955657959},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4734998345375061},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.46817272901535034},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.4454449713230133},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.4360825717449188},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.42867594957351685},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4258066713809967},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38108640909194946},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3809179365634918},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.304557740688324},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2634824216365814},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24105414748191833},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17300257086753845},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1515120565891266},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07635059952735901},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07462579011917114}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6861864328384399},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.5788034796714783},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5783749222755432},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5436001420021057},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.5413889288902283},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5240483283996582},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.5005795955657959},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4734998345375061},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.46817272901535034},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.4454449713230133},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.4360825717449188},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.42867594957351685},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4258066713809967},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38108640909194946},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3809179365634918},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.304557740688324},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2634824216365814},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24105414748191833},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17300257086753845},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1515120565891266},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07635059952735901},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07462579011917114},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems 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},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc45484.2021.9682816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9682816","pdf_url":null,"source":{"id":"https://openalex.org/S4363607724","display_name":"2021 60th IEEE Conference on Decision and Control (CDC)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 60th IEEE 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":12,"referenced_works":["https://openalex.org/W1134107867","https://openalex.org/W1981826826","https://openalex.org/W2130532917","https://openalex.org/W2138296912","https://openalex.org/W2472069939","https://openalex.org/W2497209745","https://openalex.org/W2519194790","https://openalex.org/W2623832686","https://openalex.org/W2904995204","https://openalex.org/W3197079492","https://openalex.org/W4205141155","https://openalex.org/W4242165794"],"related_works":["https://openalex.org/W12034839","https://openalex.org/W2191987460","https://openalex.org/W2318017964","https://openalex.org/W2639612090","https://openalex.org/W2567375923","https://openalex.org/W3012161390","https://openalex.org/W2170012729","https://openalex.org/W3213349779","https://openalex.org/W2384394297","https://openalex.org/W1966280357"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"a":[3,24,30,37,60,89,102,111],"formation":[4,31],"control":[5],"problem":[6],"of":[7,13,75,113,119],"mechanical":[8],"multi-agent":[9],"systems.":[10],"The":[11,48],"state":[12,67],"each":[14],"agent":[15,63],"is":[16,33,57,99,108],"governed":[17],"by":[18],"an":[19],"Euler-Lagrange":[20],"system,":[21],"defined":[22,58],"in":[23,36,68,78],"heterogeneous":[25,117],"configuration":[26,53,70],"space.":[27],"In":[28],"contrast,":[29],"task":[32,38,55,80,98],"carried":[34],"out":[35],"space":[39,71,81],"common":[40],"to":[41,110],"all":[42],"the":[43,52,69,73,79,97,105],"agents":[44,77],"with":[45,59,92,95,116],"their":[46],"end-effectors.":[47],"coordinate":[49],"transformation":[50],"between":[51],"and":[54,72],"spaces":[56],"mapping.":[61],"Each":[62],"can":[64],"measure":[65],"its":[66,83],"coordinates":[74],"other":[76],"over":[82],"own":[84],"local":[85,93],"frames.":[86],"We":[87],"design":[88],"distributed":[90],"controller":[91],"measurements":[94],"which":[96],"achieved.":[100],"As":[101],"typical":[103],"example,":[104],"developed":[106],"method":[107],"applied":[109],"group":[112],"robotic":[114],"manipulators":[115],"numbers":[118],"links.":[120]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}