{"id":"https://openalex.org/W4407949652","doi":"https://doi.org/10.1109/cdc56724.2024.10886491","title":"Circumnavigation of UAVs integrating QP-Based CLF and CBF in a Cooperative Path-Following Framework","display_name":"Circumnavigation of UAVs integrating QP-Based CLF and CBF in a Cooperative Path-Following Framework","publication_year":2024,"publication_date":"2024-12-16","ids":{"openalex":"https://openalex.org/W4407949652","doi":"https://doi.org/10.1109/cdc56724.2024.10886491"},"language":"en","primary_location":{"id":"doi:10.1109/cdc56724.2024.10886491","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc56724.2024.10886491","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 63rd 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/A5016839487","display_name":"Pallov Anand","orcid":"https://orcid.org/0000-0001-6938-6675"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Pallov Anand","raw_affiliation_strings":["Universidade do Porto,SYSTEC-ARISE Research Center for Systems and Technologies, Faculdade de Engenharia,Porto,Portugal"],"affiliations":[{"raw_affiliation_string":"Universidade do Porto,SYSTEC-ARISE Research Center for Systems and Technologies, Faculdade de Engenharia,Porto,Portugal","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069883451","display_name":"A. Pedro Aguiar","orcid":"https://orcid.org/0000-0001-7105-0505"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"A. Pedro Aguiar","raw_affiliation_strings":["Universidade do Porto,SYSTEC-ARISE Research Center for Systems and Technologies, Faculdade de Engenharia,Porto,Portugal"],"affiliations":[{"raw_affiliation_string":"Universidade do Porto,SYSTEC-ARISE Research Center for Systems and Technologies, Faculdade de Engenharia,Porto,Portugal","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014252229","display_name":"P. B. Sujit","orcid":"https://orcid.org/0000-0002-7297-1493"},"institutions":[{"id":"https://openalex.org/I288749910","display_name":"Indian Institute of Science Education and Research, Bhopal","ror":"https://ror.org/02rb21j89","country_code":"IN","type":"education","lineage":["https://openalex.org/I288749910"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"P. B. Sujit","raw_affiliation_strings":["Indian Institute of Science Education and Research Bhopal,Department of Electrical Engineering and Computer Science,Bhopal,India,462060"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Science Education and Research Bhopal,Department of Electrical Engineering and Computer Science,Bhopal,India,462060","institution_ids":["https://openalex.org/I288749910"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5016839487"],"corresponding_institution_ids":["https://openalex.org/I182534213"],"apc_list":null,"apc_paid":null,"fwci":0.3641,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.71497823,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"6206","last_page":"6211"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.866100013256073,"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"}},"topics":[{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.866100013256073,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.7804999947547913,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.7687000036239624,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5960350632667542},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5337304472923279},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.22163650393486023}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5960350632667542},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5337304472923279},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.22163650393486023}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc56724.2024.10886491","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc56724.2024.10886491","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 63rd 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":25,"referenced_works":["https://openalex.org/W1971423909","https://openalex.org/W1981209947","https://openalex.org/W2002027000","https://openalex.org/W2020909728","https://openalex.org/W2130379316","https://openalex.org/W2160643434","https://openalex.org/W2162192359","https://openalex.org/W2499597001","https://openalex.org/W2559997769","https://openalex.org/W2560504659","https://openalex.org/W2604810840","https://openalex.org/W2606357582","https://openalex.org/W2735319952","https://openalex.org/W2743444352","https://openalex.org/W2911679435","https://openalex.org/W2968945909","https://openalex.org/W2990395972","https://openalex.org/W3015549119","https://openalex.org/W3138291074","https://openalex.org/W3159611499","https://openalex.org/W3160969861","https://openalex.org/W3204382749","https://openalex.org/W3213623069","https://openalex.org/W3215711073","https://openalex.org/W4206239199"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Unmanned":[0],"Aerial":[1],"Vehicles":[2],"(UAVs)":[3],"are":[4],"increasingly":[5],"utilized":[6],"in":[7,29,76,128],"various":[8],"applications":[9],"often":[10],"requiring":[11],"coordinated":[12],"operations":[13],"of":[14,95,102,124],"multiple":[15,61],"UAVs.":[16],"Circular":[17],"formation":[18],"control":[19],"has":[20],"garnered":[21],"significant":[22],"attention":[23],"due":[24],"to":[25],"its":[26],"diverse":[27],"relevance":[28],"many":[30],"situations.":[31],"In":[32],"this":[33],"paper,":[34],"we":[35,118],"propose":[36],"a":[37,67,77],"Quadratic":[38],"Programming":[39],"(QP)":[40],"based":[41],"Control":[42,47],"Lyapunov":[43],"Function":[44,49],"(CLF)":[45],"and":[46,55,60,73,85,91,106,115,122],"Barrier":[48],"(CBF)":[50],"framework":[51,127],"for":[52,58,87],"circumnavigating":[53],"stationary":[54],"moving":[56],"targets":[57],"single":[59],"UAVs":[62],"while":[63,98],"avoiding":[64],"collision":[65],"with":[66],"known":[68],"obstacle.":[69,111],"By":[70],"integrating":[71],"CLF":[72],"CBF":[74],"constraints":[75],"cooperative":[78],"path-following":[79],"framework,":[80],"our":[81,125],"approach":[82],"offers":[83],"robustness":[84],"scalability":[86],"complex":[88],"multi-agent":[89],"systems,":[90],"ensures":[92],"asymptotic":[93],"tracking":[94],"the":[96,103,110,120],"target":[97],"maintaining":[99],"closed-loop":[100],"stability":[101],"error":[104],"dynamics":[105],"safety":[107],"margins":[108],"around":[109],"Through":[112],"theoretical":[113],"analysis":[114],"simulation":[116],"studies,":[117],"demonstrate":[119],"effectiveness":[121],"versatility":[123],"proposed":[126],"challenging":[129],"environments.":[130]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}
