{"id":"https://openalex.org/W7124181315","doi":"https://doi.org/10.1109/codit66093.2025.11321622","title":"Centralized Distance-based MPC Strategy for Local Formation Tracking of a Multi-Robot Fleet","display_name":"Centralized Distance-based MPC Strategy for Local Formation Tracking of a Multi-Robot Fleet","publication_year":2025,"publication_date":"2025-07-15","ids":{"openalex":"https://openalex.org/W7124181315","doi":"https://doi.org/10.1109/codit66093.2025.11321622"},"language":"en","primary_location":{"id":"doi:10.1109/codit66093.2025.11321622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit66093.2025.11321622","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 11th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://uha.hal.science/hal-05318293","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5120288571","display_name":"Augustin Point","orcid":"https://orcid.org/0009-0001-6782-7841"},"institutions":[{"id":"https://openalex.org/I4210139102","display_name":"Institut de Recherche en H\u00e9matologie et Transplantation","ror":"https://ror.org/039ztcx57","country_code":"FR","type":"facility","lineage":["https://openalex.org/I4210139102"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Augustin Point","raw_affiliation_strings":["IRIMAS,Institute of Research in Computer-Science, Mathematics, Automatic and Signal,Mulhouse,France,UR7499"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRIMAS,Institute of Research in Computer-Science, Mathematics, Automatic and Signal,Mulhouse,France,UR7499","institution_ids":["https://openalex.org/I4210139102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103115570","display_name":"David Vieira","orcid":"https://orcid.org/0009-0004-1846-0459"},"institutions":[{"id":"https://openalex.org/I4210139102","display_name":"Institut de Recherche en H\u00e9matologie et Transplantation","ror":"https://ror.org/039ztcx57","country_code":"FR","type":"facility","lineage":["https://openalex.org/I4210139102"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"David Vieira","raw_affiliation_strings":["IRIMAS,Institute of Research in Computer-Science, Mathematics, Automatic and Signal,Mulhouse,France,UR7499"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRIMAS,Institute of Research in Computer-Science, Mathematics, Automatic and Signal,Mulhouse,France,UR7499","institution_ids":["https://openalex.org/I4210139102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017219375","display_name":"Michel Basset","orcid":"https://orcid.org/0000-0001-5649-3922"},"institutions":[{"id":"https://openalex.org/I4210139102","display_name":"Institut de Recherche en H\u00e9matologie et Transplantation","ror":"https://ror.org/039ztcx57","country_code":"FR","type":"facility","lineage":["https://openalex.org/I4210139102"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Michel Basset","raw_affiliation_strings":["IRIMAS,Institute of Research in Computer-Science, Mathematics, Automatic and Signal,Mulhouse,France,UR7499"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRIMAS,Institute of Research in Computer-Science, Mathematics, Automatic and Signal,Mulhouse,France,UR7499","institution_ids":["https://openalex.org/I4210139102"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077617763","display_name":"Rodolfo Orjuela","orcid":"https://orcid.org/0000-0002-1994-1471"},"institutions":[{"id":"https://openalex.org/I4210139102","display_name":"Institut de Recherche en H\u00e9matologie et Transplantation","ror":"https://ror.org/039ztcx57","country_code":"FR","type":"facility","lineage":["https://openalex.org/I4210139102"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Rodolfo Orjuela","raw_affiliation_strings":["IRIMAS,Institute of Research in Computer-Science, Mathematics, Automatic and Signal,Mulhouse,France,UR7499"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRIMAS,Institute of Research in Computer-Science, Mathematics, Automatic and Signal,Mulhouse,France,UR7499","institution_ids":["https://openalex.org/I4210139102"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.6399469,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1739","last_page":"1744"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9926999807357788,"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":0.9926999807357788,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.0020000000949949026,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.0013000000035390258,"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/model-predictive-control","display_name":"Model predictive control","score":0.7590000033378601},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7272999882698059},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.6359999775886536},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6008999943733215},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4081000089645386},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.39590001106262207}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7590000033378601},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7272999882698059},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.6359999775886536},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6008999943733215},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5202999711036682},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4212999939918518},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4081000089645386},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.39590001106262207},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3587999939918518},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.35100001096725464},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2922999858856201},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.290800005197525},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.28760001063346863},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.2777000069618225},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.260699987411499},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2606000006198883}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/codit66093.2025.11321622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit66093.2025.11321622","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 11th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-05318293v1","is_oa":true,"landing_page_url":"https://uha.hal.science/hal-05318293","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2025 11th International Conference on Control, Decision and Information Technologies (CoDIT), Jul 2025, Split, Croatia. pp.1739-1744, ⟨10.1109/CoDIT66093.2025.11321622⟩","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-05318293v1","is_oa":true,"landing_page_url":"https://uha.hal.science/hal-05318293","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2025 11th International Conference on Control, Decision and Information Technologies (CoDIT), Jul 2025, Split, Croatia. pp.1739-1744, ⟨10.1109/CoDIT66093.2025.11321622⟩","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337753","display_name":"Interreg","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1503019334","https://openalex.org/W1981826826","https://openalex.org/W2039533720","https://openalex.org/W2091756921","https://openalex.org/W2130532917","https://openalex.org/W2138296912","https://openalex.org/W2153629060","https://openalex.org/W2158820400","https://openalex.org/W2166833517","https://openalex.org/W2768728398","https://openalex.org/W2775110590","https://openalex.org/W2926946761","https://openalex.org/W2977742195","https://openalex.org/W3098977466","https://openalex.org/W3176420870","https://openalex.org/W3189485809","https://openalex.org/W4327615728","https://openalex.org/W4399951841","https://openalex.org/W4409580886"],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,16,71,114],"centralized":[4],"control":[5,40],"strategy":[6,49,80],"is":[7,81],"proposed":[8,48,79,109],"to":[9,42,53,98],"perform":[10],"the":[11,27,31,51,58,67,78,89,99,105,108,118,122,126,134,141],"formation":[12,76,116],"tracking":[13],"(FT)":[14],"of":[15,26,34,69,107,124,143],"multi-robot":[17],"fleet,":[18],"without":[19],"using":[20,37,70,125],"absolute":[21],"position":[22],"information.":[23],"The":[24,47],"core":[25],"approach":[28,86],"lies":[29],"in":[30,62,91,112,129],"predictive":[32,39],"regulation":[33],"inter-agent":[35],"distances":[36],"model":[38],"(MPC)":[41],"improve":[43],"robustness":[44],"against":[45],"deformations.":[46],"allows":[50],"formations":[52],"be":[54],"efficiently":[55],"maintained":[56],"around":[57,117],"moving":[59],"leader,":[60],"even":[61],"GPS-denied":[63],"conditions.":[64],"To":[65,132],"evaluate":[66],"advantages":[68],"distance-based":[72,127],"formalism":[73,128],"for":[74],"local":[75,115],"tracking,":[77],"then":[82],"compared":[83],"with":[84,96],"another":[85],"inspired":[87],"by":[88],"literature,":[90],"which":[92],"robots":[93],"maintain":[94],"positions":[95],"respect":[97],"fleet":[100],"centroid.":[101],"Simulation":[102],"results":[103],"show":[104],"efficiency":[106],"MPC":[110],"framework":[111],"maintaining":[113],"leader":[119],"and":[120],"highlight":[121],"benefits":[123],"constrained":[130],"settings.":[131],"conclude":[133],"study,":[135],"further":[136],"discussions":[137],"are":[138],"made":[139],"about":[140],"specification":[142],"each":[144],"formalism.":[145]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-01-15T00:00:00"}