{"id":"https://openalex.org/W2107249932","doi":"https://doi.org/10.1109/coase.2007.4341716","title":"PSO-Based Cooperative Control of Multiple Mobile Robots in Parameter-Tuned Formations","display_name":"PSO-Based Cooperative Control of Multiple Mobile Robots in Parameter-Tuned Formations","publication_year":2007,"publication_date":"2007-09-01","ids":{"openalex":"https://openalex.org/W2107249932","doi":"https://doi.org/10.1109/coase.2007.4341716","mag":"2107249932"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2007.4341716","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2007.4341716","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Automation Science and Engineering","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/A5019424682","display_name":"N. M. Kwok","orcid":"https://orcid.org/0000-0002-5430-6860"},"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/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"N. M. Kwok","raw_affiliation_strings":["ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, Sydney University of Technology, Broadway, NSW, Australia","Technol. Univ., Sydney"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, Sydney University of Technology, Broadway, NSW, Australia","institution_ids":["https://openalex.org/I114017466","https://openalex.org/I129604602"]},{"raw_affiliation_string":"Technol. Univ., Sydney","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111954081","display_name":"Van-Thuyen Ngo","orcid":null},"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/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"V. T. Ngo","raw_affiliation_strings":["ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, Sydney University of Technology, Broadway, NSW, Australia","Technol. Univ., Sydney"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, Sydney University of Technology, Broadway, NSW, Australia","institution_ids":["https://openalex.org/I114017466","https://openalex.org/I129604602"]},{"raw_affiliation_string":"Technol. Univ., Sydney","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069849643","display_name":"Q. P. Ha","orcid":"https://orcid.org/0000-0003-0978-1758"},"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/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Q. P. Ha","raw_affiliation_strings":["ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, Sydney University of Technology, Broadway, NSW, Australia","Technol. Univ., Sydney"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, Sydney University of Technology, Broadway, NSW, Australia","institution_ids":["https://openalex.org/I114017466","https://openalex.org/I129604602"]},{"raw_affiliation_string":"Technol. Univ., Sydney","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"332","last_page":"337"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9977999925613403,"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/benchmark","display_name":"Benchmark (surveying)","score":0.8257834911346436},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7330688834190369},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.7066961526870728},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6374540328979492},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.581977903842926},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5493636727333069},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5209937691688538},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.48586079478263855},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44110819697380066},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43928784132003784},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.347291499376297},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3211364150047302},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2047843039035797},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.134294331073761},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11631497740745544}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.8257834911346436},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7330688834190369},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.7066961526870728},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6374540328979492},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.581977903842926},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5493636727333069},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5209937691688538},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.48586079478263855},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44110819697380066},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43928784132003784},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.347291499376297},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3211364150047302},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2047843039035797},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.134294331073761},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11631497740745544},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/coase.2007.4341716","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2007.4341716","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Automation Science and Engineering","raw_type":"proceedings-article"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/2856","is_oa":false,"landing_page_url":"http://hdl.handle.net/10453/2856","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":[{"id":"https://openalex.org/F4320320967","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041"},{"id":"https://openalex.org/F4320331430","display_name":"New South Wales Government","ror":"https://ror.org/0067dvq63"},{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W192345064","https://openalex.org/W657298048","https://openalex.org/W1517023801","https://openalex.org/W1607193314","https://openalex.org/W2028703107","https://openalex.org/W2037044131","https://openalex.org/W2072511934","https://openalex.org/W2097346851","https://openalex.org/W2116287030","https://openalex.org/W2119120935","https://openalex.org/W2136349505","https://openalex.org/W2146005358","https://openalex.org/W2160423351","https://openalex.org/W2169245194","https://openalex.org/W2171898654","https://openalex.org/W2545135203","https://openalex.org/W6607836077","https://openalex.org/W6621951772","https://openalex.org/W6685368490"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W2745001401","https://openalex.org/W4321353415","https://openalex.org/W2130974462","https://openalex.org/W972276598","https://openalex.org/W2028665553","https://openalex.org/W2086519370","https://openalex.org/W2087343574","https://openalex.org/W4246352526","https://openalex.org/W2121910908"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,38,48,54,69,114,117],"coordination":[4],"of":[5,101,116,123],"multiple":[6],"mobile":[7],"robots":[8,55],"in":[9,14],"navigation":[10],"formations.":[11],"Difficulties":[12],"encountered":[13],"conventional":[15],"leader-follower":[16,39],"approaches,":[17],"such":[18],"as":[19,74],"bounds":[20],"on":[21,37],"control":[22,31,67],"commands":[23],"and":[24,41,66,84],"formation":[25,49,81],"constraints":[26],"are":[27,110],"revealed.":[28],"A":[29],"generic":[30],"structure":[32],"is":[33,71,94],"then":[34],"proposed,":[35],"based":[36],"strategy":[40],"virtual":[42],"robot":[43],"tracking":[44,64],"framework,":[45],"to":[46,61,79,97,112],"parameterize":[47],"configuration":[50,82],"for":[51,120],"cooperatively":[52],"deploying":[53],"into":[56],"desired":[57],"patterns.":[58,125],"In":[59],"order":[60],"achieve":[62],"both":[63],"accuracy":[65],"feasibility,":[68],"design":[70],"further":[72],"cast":[73],"a":[75,121],"constrained":[76],"optimization":[77,91],"problem":[78],"obtain":[80],"parameters":[83,86],"controller":[85],"simultaneously.":[87],"The":[88],"particle":[89],"swarm":[90],"(PSO)":[92],"algorithm":[93],"used,":[95],"owing":[96],"its":[98],"computationally-efficient":[99],"capability":[100],"handling":[102],"multi-objective":[103],"criteria.":[104],"Satisfactory":[105],"results":[106],"obtained":[107],"through":[108],"simulation":[109],"included":[111],"illustrate":[113],"effectiveness":[115],"proposed":[118],"technique":[119],"number":[122],"benchmark":[124]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
