{"id":"https://openalex.org/W3217098079","doi":"https://doi.org/10.1109/crc52766.2021.9620129","title":"Trajectory Tracking Design of Multi-robot Formation Based on Leader-Follower","display_name":"Trajectory Tracking Design of Multi-robot Formation Based on Leader-Follower","publication_year":2021,"publication_date":"2021-10-09","ids":{"openalex":"https://openalex.org/W3217098079","doi":"https://doi.org/10.1109/crc52766.2021.9620129","mag":"3217098079"},"language":"en","primary_location":{"id":"doi:10.1109/crc52766.2021.9620129","is_oa":false,"landing_page_url":"https://doi.org/10.1109/crc52766.2021.9620129","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 6th International Conference on Control, Robotics and Cybernetics (CRC)","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/A5101663024","display_name":"Tong Wu","orcid":"https://orcid.org/0000-0003-4559-8539"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tong Wu","raw_affiliation_strings":["Robotics and Intelligent Equipment Research Center, Beijing University of Chemical Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics and Intelligent Equipment Research Center, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100736053","display_name":"Zhiqing Li","orcid":"https://orcid.org/0000-0001-5629-3816"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqing Li","raw_affiliation_strings":["Robotics and Intelligent Equipment Research Center, Beijing University of Chemical Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics and Intelligent Equipment Research Center, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["Ritsumeikan University, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029572318","display_name":"Zheng Tang","orcid":"https://orcid.org/0000-0002-3744-2254"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Tang","raw_affiliation_strings":["Robotics and Intelligent Equipment Research Center, Beijing University of Chemical Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics and Intelligent Equipment Research Center, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101663024"],"corresponding_institution_ids":["https://openalex.org/I75390827"],"apc_list":null,"apc_paid":null,"fwci":0.6113,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.70976695,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"90","last_page":"95"},"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":0.9965999722480774,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/trajectory","display_name":"Trajectory","score":0.8383535742759705},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6878857612609863},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6486391425132751},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6238921284675598},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6139072179794312},{"id":"https://openalex.org/keywords/reset","display_name":"Reset (finance)","score":0.5403379201889038},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5230944156646729},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5055608749389648},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4589650630950928},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4206130802631378},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.41373899579048157},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3437439203262329},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26247113943099976},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23679634928703308},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21307513117790222}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8383535742759705},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6878857612609863},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6486391425132751},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6238921284675598},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6139072179794312},{"id":"https://openalex.org/C2779795794","wikidata":"https://www.wikidata.org/wiki/Q7315343","display_name":"Reset (finance)","level":2,"score":0.5403379201889038},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5230944156646729},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5055608749389648},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4589650630950928},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4206130802631378},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.41373899579048157},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3437439203262329},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26247113943099976},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23679634928703308},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21307513117790222},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C106159729","wikidata":"https://www.wikidata.org/wiki/Q2294553","display_name":"Financial economics","level":1,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/crc52766.2021.9620129","is_oa":false,"landing_page_url":"https://doi.org/10.1109/crc52766.2021.9620129","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 6th International Conference on Control, Robotics and Cybernetics (CRC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W2063554272","https://openalex.org/W2119959427","https://openalex.org/W2402675186","https://openalex.org/W3096787254","https://openalex.org/W3119852476"],"related_works":["https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4385196987","https://openalex.org/W218732962","https://openalex.org/W2979398413","https://openalex.org/W1540467731","https://openalex.org/W1979383880","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W1532677580"],"abstract_inverted_index":{"Trajectory":[0],"tracking":[1,29,101],"error":[2],"of":[3,31,64],"Multi-robot":[4,96],"formation":[5,48,66,75,97],"is":[6,34,44,84],"easily":[7],"caused":[8],"by":[9,57,86],"external":[10],"environment":[11],"interference.":[12],"To":[13],"address":[14],"this":[15,17],"issue,":[16],"paper":[18],"introduces":[19],"a":[20,40],"control":[21],"method":[22],"based":[23,36],"on":[24,37],"consistency.":[25],"First,":[26],"the":[27,47,65,73,78],"trajectory":[28,100],"controller":[30],"leader":[32],"robot":[33,74],"designed":[35],"back-stepping.":[38],"Second,":[39],"stable":[41],"communication":[42],"topology":[43],"designed.":[45],"Accordingly,":[46],"motion":[49,67],"can":[50,68],"be":[51,69],"reset":[52],"quickly":[53],"after":[54],"being":[55],"disturbed":[56],"obstacles":[58],"and":[59],"outside":[60],"world.":[61],"Consequently,":[62],"stability":[63],"maintained,":[70],"which":[71],"enables":[72],"to":[76],"track":[77],"expected":[79],"trajectory.":[80],"Finally,":[81],"its":[82],"effectiveness":[83],"verified":[85],"numerical":[87],"simulation.":[88],"The":[89],"results":[90],"show":[91],"that":[92],"our":[93],"approach":[94],"realizes":[95],"with":[98],"accurate":[99],"control.":[102]},"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":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
