{"id":"https://openalex.org/W4315471988","doi":"https://doi.org/10.1109/cdc51059.2022.9993176","title":"Distributed Constrained Connectivity-Keeping Supervision Scheme in the Presence of Static Obstacles","display_name":"Distributed Constrained Connectivity-Keeping Supervision Scheme in the Presence of Static Obstacles","publication_year":2022,"publication_date":"2022-12-06","ids":{"openalex":"https://openalex.org/W4315471988","doi":"https://doi.org/10.1109/cdc51059.2022.9993176"},"language":"en","primary_location":{"id":"doi:10.1109/cdc51059.2022.9993176","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc51059.2022.9993176","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st 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":"2022 IEEE 61st 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/A5043517681","display_name":"Alessandro Casavola","orcid":"https://orcid.org/0000-0002-4216-4201"},"institutions":[{"id":"https://openalex.org/I45204951","display_name":"University of Calabria","ror":"https://ror.org/02rc97e94","country_code":"IT","type":"education","lineage":["https://openalex.org/I45204951"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Alessandro Casavola","raw_affiliation_strings":["Università Degli Studi Della Calabria,Dipartimento di Elettronica, Informatica e Sistemistica,Rende (CS),Italy,87036"],"affiliations":[{"raw_affiliation_string":"Università Degli Studi Della Calabria,Dipartimento di Elettronica, Informatica e Sistemistica,Rende (CS),Italy,87036","institution_ids":["https://openalex.org/I45204951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006530416","display_name":"Vincenzo D\u2019Angelo","orcid":"https://orcid.org/0000-0001-9047-8419"},"institutions":[{"id":"https://openalex.org/I45204951","display_name":"University of Calabria","ror":"https://ror.org/02rc97e94","country_code":"IT","type":"education","lineage":["https://openalex.org/I45204951"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Vincenzo D'Angelo","raw_affiliation_strings":["Università Degli Studi Della Calabria,Dipartimento di Elettronica, Informatica e Sistemistica,Rende (CS),Italy,87036"],"affiliations":[{"raw_affiliation_string":"Università Degli Studi Della Calabria,Dipartimento di Elettronica, Informatica e Sistemistica,Rende (CS),Italy,87036","institution_ids":["https://openalex.org/I45204951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085561487","display_name":"Ayman El Qemmah","orcid":"https://orcid.org/0009-0005-5740-5986"},"institutions":[{"id":"https://openalex.org/I45204951","display_name":"University of Calabria","ror":"https://ror.org/02rc97e94","country_code":"IT","type":"education","lineage":["https://openalex.org/I45204951"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ayman El Qemmah","raw_affiliation_strings":["Università Degli Studi Della Calabria,Dipartimento di Elettronica, Informatica e Sistemistica,Rende (CS),Italy,87036"],"affiliations":[{"raw_affiliation_string":"Università Degli Studi Della Calabria,Dipartimento di Elettronica, Informatica e Sistemistica,Rende (CS),Italy,87036","institution_ids":["https://openalex.org/I45204951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040362876","display_name":"Francesco Tedesco","orcid":"https://orcid.org/0000-0001-5876-3711"},"institutions":[{"id":"https://openalex.org/I45204951","display_name":"University of Calabria","ror":"https://ror.org/02rc97e94","country_code":"IT","type":"education","lineage":["https://openalex.org/I45204951"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Tedesco","raw_affiliation_strings":["Università Degli Studi Della Calabria,Dipartimento di Elettronica, Informatica e Sistemistica,Rende (CS),Italy,87036"],"affiliations":[{"raw_affiliation_string":"Università Degli Studi Della Calabria,Dipartimento di Elettronica, Informatica e Sistemistica,Rende (CS),Italy,87036","institution_ids":["https://openalex.org/I45204951"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030343102","display_name":"Franco Angelo Torchiaro","orcid":"https://orcid.org/0009-0000-0939-5860"},"institutions":[{"id":"https://openalex.org/I45204951","display_name":"University of Calabria","ror":"https://ror.org/02rc97e94","country_code":"IT","type":"education","lineage":["https://openalex.org/I45204951"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Franco Angelo Torchiaro","raw_affiliation_strings":["Università Degli Studi Della Calabria,Dipartimento di Elettronica, Informatica e Sistemistica,Rende (CS),Italy,87036"],"affiliations":[{"raw_affiliation_string":"Università Degli Studi Della Calabria,Dipartimento di Elettronica, Informatica e Sistemistica,Rende (CS),Italy,87036","institution_ids":["https://openalex.org/I45204951"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5043517681"],"corresponding_institution_ids":["https://openalex.org/I45204951"],"apc_list":null,"apc_paid":null,"fwci":0.4325,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.52454457,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9922999739646912,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.829085111618042},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6846402883529663},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6222797632217407},{"id":"https://openalex.org/keywords/hyperplane","display_name":"Hyperplane","score":0.5919879078865051},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5783795714378357},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5684623718261719},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4790588319301605},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.46851277351379395},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4526725113391876},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.444854199886322},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.44453346729278564},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3835461735725403},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36195018887519836},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3070886731147766},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18316158652305603},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15030765533447266},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13608819246292114},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.13498064875602722},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08099702000617981}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.829085111618042},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6846402883529663},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6222797632217407},{"id":"https://openalex.org/C68693459","wikidata":"https://www.wikidata.org/wiki/Q657586","display_name":"Hyperplane","level":2,"score":0.5919879078865051},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5783795714378357},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5684623718261719},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4790588319301605},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.46851277351379395},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4526725113391876},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.444854199886322},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.44453346729278564},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3835461735725403},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36195018887519836},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3070886731147766},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18316158652305603},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15030765533447266},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13608819246292114},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.13498064875602722},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08099702000617981},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc51059.2022.9993176","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc51059.2022.9993176","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st 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":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1909816562","https://openalex.org/W1979743043","https://openalex.org/W2060227219","https://openalex.org/W2142474603","https://openalex.org/W2476848496","https://openalex.org/W2482392012","https://openalex.org/W2770213923","https://openalex.org/W2789415234","https://openalex.org/W2890807499","https://openalex.org/W3163307743","https://openalex.org/W3164007692","https://openalex.org/W4214749598"],"related_works":["https://openalex.org/W2002541721","https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W4380590094"],"abstract_inverted_index":{"Connectivity":[0],"maintenance":[1],"and":[2,36,41],"safe":[3],"navigation":[4],"around":[5],"obstacles":[6],"are":[7,119],"fundamental":[8],"challenges":[9],"for":[10],"vehicle":[11],"formations.":[12],"This":[13],"paper":[14],"introduces":[15],"a":[16,25,33,77,90,106],"novel":[17],"multi-level":[18],"supervision":[19,46],"distributed":[20],"architecture":[21],"aimed":[22],"at":[23,95],"supervising":[24],"set":[26],"of":[27,71,89,115,128],"dynamically":[28],"decoupled":[29],"agents":[30],"operating":[31],"in":[32,57],"2D":[34],"space":[35],"subject":[37],"to":[38,59],"obstacle":[39,63,101],"avoidance":[40,64,102],"connectivity-keeping":[42],"constraints.":[43],"An":[44],"existing":[45],"scheme":[47],"based":[48],"on":[49],"Distributed":[50],"Command":[51],"Governor":[52],"ideas":[53],"is":[54],"here":[55,74],"extended":[56],"order":[58],"adequately":[60],"tackle":[61],"non-convex":[62],"constraints":[65,103],"while":[66,99],"maintaining":[67],"the":[68,72,83,87,113,116,126,129],"communication":[69],"connectivity":[70],"formation,":[73],"modeled":[75],"as":[76],"dynamic":[78],"graph.":[79],"To":[80],"this":[81],"end,":[82],"proposed":[84,117,130],"method":[85],"enforces":[86],"existence":[88],"specific":[91],"minimum":[92],"spanning":[93],"tree":[94],"each":[96],"time":[97],"instant":[98],"fulfilling":[100],"by":[104],"using":[105],"separation":[107],"hyperplane.":[108],"Conditions":[109],"that":[110,124],"formally":[111],"prove":[112],"feasibility":[114],"strategy":[118],"included":[120],"along":[121],"with":[122],"simulations":[123],"show":[125],"effectiveness":[127],"method.":[131]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}