{"id":"https://openalex.org/W2100557026","doi":"https://doi.org/10.1109/cira.2003.1222099","title":"Time-optimal coordinated control of the relative formation of multiple vehicles","display_name":"Time-optimal coordinated control of the relative formation of multiple vehicles","publication_year":2004,"publication_date":"2004-03-01","ids":{"openalex":"https://openalex.org/W2100557026","doi":"https://doi.org/10.1109/cira.2003.1222099","mag":"2100557026"},"language":"en","primary_location":{"id":"doi:10.1109/cira.2003.1222099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cira.2003.1222099","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694)","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/A5021113129","display_name":"Tomonari Furukawa","orcid":"https://orcid.org/0000-0003-2811-4221"},"institutions":[{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"T. Furukawa","raw_affiliation_strings":["Poly-Grames Research Center, Ecole Polytechnique de Montr\u00e9al, Montr\u00e9al, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Poly-Grames Research Center, Ecole Polytechnique de Montr\u00e9al, Montr\u00e9al, QC, Canada","institution_ids":["https://openalex.org/I45683168"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113671184","display_name":"Hugh Durrant\u2010Whyte","orcid":null},"institutions":[{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]},{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU","CA"],"is_corresponding":false,"raw_author_name":"H.F. Durrant-Whyte","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney, Sydney, Australia","Poly-Grames Research Center, Ecole Polytechnique de Montr\u00e9al, Montr\u00e9al, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"Poly-Grames Research Center, Ecole Polytechnique de Montr\u00e9al, Montr\u00e9al, QC, Canada","institution_ids":["https://openalex.org/I45683168"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064559941","display_name":"Fr\u00e9d\u00e9ric Bourgault","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]},{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]},{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU","CA"],"is_corresponding":false,"raw_author_name":"F. Bourgault","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney, Sydney, Australia","Poly-Grames Research Center, Ecole Polytechnique de Montr\u00e9al, Montr\u00e9al, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"Poly-Grames Research Center, Ecole Polytechnique de Montr\u00e9al, Montr\u00e9al, QC, Canada","institution_ids":["https://openalex.org/I45683168"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091185859","display_name":"Gamini Dissanayake","orcid":"https://orcid.org/0000-0002-7992-0680"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]},{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["AU","CA"],"is_corresponding":false,"raw_author_name":"G. Dissanayake","raw_affiliation_strings":["Faculty of Engineering, University of Technology, Sydney, Australia","Poly-Grames Research Center, Ecole Polytechnique de Montr\u00e9al, Montr\u00e9al, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Technology, Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"Poly-Grames Research Center, Ecole Polytechnique de Montr\u00e9al, Montr\u00e9al, QC, Canada","institution_ids":["https://openalex.org/I45683168"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5021113129"],"corresponding_institution_ids":["https://openalex.org/I45683168"],"apc_list":null,"apc_paid":null,"fwci":0.2491,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.66177131,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"1","issue":null,"first_page":"259","last_page":"264"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9994000196456909,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9965000152587891,"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/control","display_name":"Control (management)","score":0.6030952334403992},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5070135593414307},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4219772219657898},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.20523473620414734},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17361536622047424},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15836021304130554}],"concepts":[{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.6030952334403992},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5070135593414307},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4219772219657898},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.20523473620414734},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17361536622047424},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15836021304130554}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cira.2003.1222099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cira.2003.1222099","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694)","raw_type":"proceedings-article"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/2854","is_oa":false,"landing_page_url":"http://hdl.handle.net/10453/2854","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1525833200","https://openalex.org/W1975450196","https://openalex.org/W1998786717","https://openalex.org/W2033686669","https://openalex.org/W2115263115","https://openalex.org/W2135671912","https://openalex.org/W2147928602","https://openalex.org/W2334457956","https://openalex.org/W2980827468","https://openalex.org/W4300449797","https://openalex.org/W6702401308"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W4391913857","https://openalex.org/W2350741829","https://openalex.org/W2530322880"],"abstract_inverted_index":{"This":[0,16],"paper":[1],"presents":[2],"a":[3,18,25,33,43],"solution":[4,64],"to":[5,46,65],"the":[6,10,37,57,60,66],"time-optimal":[7,22],"control":[8,23],"of":[9,13,36,50,59,68,74],"relative":[11],"formation":[12],"multiple":[14],"vehicles.":[15,77],"is":[17,39,52],"problem":[19,38,51,67],"in":[20],"cooperative":[21,75],"with":[24],"free":[26],"terminal":[27],"state":[28],"constraint.":[29],"In":[30],"this":[31,48],"paper,":[32],"canonical":[34],"formulation":[35,62],"first":[40],"derived.":[41],"Then,":[42],"numerical":[44],"technique":[45],"solve":[47],"class":[49],"proposed.":[53],"Numerical":[54],"results":[55],"demonstrate":[56],"efficacy":[58],"proposed":[61],"and":[63,71],"expeditiously":[69],"building":[70],"controlling":[72],"formations":[73],"autonomous":[76]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}