{"id":"https://openalex.org/W4210327177","doi":"https://doi.org/10.1109/cdc45484.2021.9683423","title":"Online Learning-based Formation Control of Multi-Agent Systems with Gaussian Processes","display_name":"Online Learning-based Formation Control of Multi-Agent Systems with Gaussian Processes","publication_year":2021,"publication_date":"2021-12-14","ids":{"openalex":"https://openalex.org/W4210327177","doi":"https://doi.org/10.1109/cdc45484.2021.9683423"},"language":"en","primary_location":{"id":"doi:10.1109/cdc45484.2021.9683423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9683423","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":"conference-paper","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/A5087890782","display_name":"Thomas Beckers","orcid":"https://orcid.org/0000-0003-1718-0338"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]},{"id":"https://openalex.org/I922845939","display_name":"Philadelphia University","ror":"https://ror.org/03zzmyz63","country_code":"US","type":"education","lineage":["https://openalex.org/I922845939"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas Beckers","raw_affiliation_strings":["University of Pennsylvania, Philadelphia, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946","https://openalex.org/I922845939"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024376647","display_name":"Sandra Hirche","orcid":"https://orcid.org/0000-0001-7819-5926"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sandra Hirche","raw_affiliation_strings":["Technical University of Munich, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011498718","display_name":"Leonardo Colombo","orcid":"https://orcid.org/0000-0003-2085-3871"},"institutions":[{"id":"https://openalex.org/I4210157032","display_name":"Institute of Mathematical Sciences","ror":"https://ror.org/05e9bn444","country_code":"ES","type":"facility","lineage":["https://openalex.org/I4210157032"]},{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]},{"id":"https://openalex.org/I63634437","display_name":"Universidad Aut\u00f3noma de Madrid","ror":"https://ror.org/01cby8j38","country_code":"ES","type":"education","lineage":["https://openalex.org/I63634437"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Leonardo Colombo","raw_affiliation_strings":["Instituto de Ciencias Matem\u00e1ticas (CSIC-UAM-UCM-UC3M), Espa\u00f1a"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Ciencias Matem\u00e1ticas (CSIC-UAM-UCM-UC3M), Espa\u00f1a","institution_ids":["https://openalex.org/I4210157032","https://openalex.org/I50357001","https://openalex.org/I63634437"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0852,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.75960566,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2197","last_page":"2202"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11133","display_name":"UAV Applications and Optimization","score":0.989300012588501,"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/computer-science","display_name":"Computer science","score":0.6600390672683716},{"id":"https://openalex.org/keywords/double-integrator","display_name":"Double integrator","score":0.6455516219139099},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6013946533203125},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5796039700508118},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5714557766914368},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.567331075668335},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5551300048828125},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.5327496528625488},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5241701602935791},{"id":"https://openalex.org/keywords/online-learning","display_name":"Online learning","score":0.4550836682319641},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.421394407749176},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3960547149181366},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.375565767288208},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31524932384490967},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2954000234603882},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18423202633857727},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1572001576423645}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6600390672683716},{"id":"https://openalex.org/C2779323837","wikidata":"https://www.wikidata.org/wiki/Q5300045","display_name":"Double integrator","level":3,"score":0.6455516219139099},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6013946533203125},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5796039700508118},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5714557766914368},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.567331075668335},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5551300048828125},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.5327496528625488},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5241701602935791},{"id":"https://openalex.org/C2986087404","wikidata":"https://www.wikidata.org/wiki/Q15946010","display_name":"Online learning","level":2,"score":0.4550836682319641},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.421394407749176},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3960547149181366},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.375565767288208},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31524932384490967},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2954000234603882},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18423202633857727},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1572001576423645},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc45484.2021.9683423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9683423","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":[{"score":0.800000011920929,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W317456669","https://openalex.org/W1503019334","https://openalex.org/W1788292158","https://openalex.org/W1974534430","https://openalex.org/W1981826826","https://openalex.org/W1991880036","https://openalex.org/W2002347650","https://openalex.org/W2040871222","https://openalex.org/W2105850748","https://openalex.org/W2108261524","https://openalex.org/W2138296912","https://openalex.org/W2166566250","https://openalex.org/W2213588246","https://openalex.org/W2336158624","https://openalex.org/W2568724943","https://openalex.org/W2759084312","https://openalex.org/W2774092941","https://openalex.org/W2808816909","https://openalex.org/W2963784516","https://openalex.org/W2981246288","https://openalex.org/W2995486512","https://openalex.org/W3104473931","https://openalex.org/W4211049957","https://openalex.org/W6688587345","https://openalex.org/W7062071732"],"related_works":["https://openalex.org/W2080488015","https://openalex.org/W2897121470","https://openalex.org/W2347533678","https://openalex.org/W4248598780","https://openalex.org/W3213086587","https://openalex.org/W2469303921","https://openalex.org/W2116395142","https://openalex.org/W2369204337","https://openalex.org/W2507282821","https://openalex.org/W2883723259"],"abstract_inverted_index":{"Formation":[0],"control":[1,69,120],"algorithms":[2],"for":[3,30,37,71,83],"multi-agent":[4,72],"systems":[5,73],"have":[6],"gained":[7],"much":[8],"attention":[9],"in":[10],"the":[11,16,47,87,98,105,114,117],"recent":[12],"years":[13],"due":[14],"to":[15,59,97],"increasing":[17,39],"amount":[18],"of":[19,27,41,46,86,116],"mobile":[20],"and":[21,50],"aerial":[22],"robotic":[23],"swarms.":[24],"The":[25,90],"design":[26],"safe":[28],"controllers":[29],"these":[31],"vehicles":[32],"is":[33,107],"a":[34,67,94],"substantial":[35],"aspect":[36],"an":[38],"range":[40],"application":[42],"domains.":[43],"However,":[44],"parts":[45],"vehicle\u2019s":[48],"dynamics":[49,78],"external":[51],"disturbances":[52],"are":[53],"often":[54],"unknown":[55,88],"or":[56],"very":[57],"time-consuming":[58],"model.":[60],"To":[61],"overcome":[62],"this":[63],"issue,":[64],"we":[65],"present":[66],"formation":[68,100,119],"law":[70],"based":[74],"on":[75],"double":[76],"integrator":[77],"by":[79],"using":[80],"Gaussian":[81],"Processes":[82],"online":[84],"learning":[85],"dynamics.":[89],"presented":[91],"approach":[92],"guarantees":[93],"bounded":[95],"error":[96],"desired":[99],"with":[101],"high":[102],"probability,":[103],"where":[104],"bound":[106],"explicitly":[108],"given.":[109],"A":[110],"numerical":[111],"example":[112],"highlights":[113],"effectiveness":[115],"learning-based":[118],"law.":[121]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
