{"id":"https://openalex.org/W3082658791","doi":"https://doi.org/10.1109/icaci49185.2020.9177846","title":"Formation Control Strategy of Multi-agent Systems with Obstacle Avoidance","display_name":"Formation Control Strategy of Multi-agent Systems with Obstacle Avoidance","publication_year":2020,"publication_date":"2020-08-01","ids":{"openalex":"https://openalex.org/W3082658791","doi":"https://doi.org/10.1109/icaci49185.2020.9177846","mag":"3082658791"},"language":"en","primary_location":{"id":"doi:10.1109/icaci49185.2020.9177846","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icaci49185.2020.9177846","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 12th International Conference on Advanced Computational Intelligence (ICACI)","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/A5101808723","display_name":"Jingcheng Liu","orcid":"https://orcid.org/0000-0002-9222-417X"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingcheng Liu","raw_affiliation_strings":["Tongji University,Department of Control Science and Engineering,Shanghai,China","Department of Control Science and Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,Department of Control Science and Engineering,Shanghai,China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010117485","display_name":"Changzhu Zhang","orcid":"https://orcid.org/0000-0001-7244-7280"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changzhu Zhang","raw_affiliation_strings":["Tongji University,Department of Control Science and Engineering,Shanghai,China","Department of Control Science and Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,Department of Control Science and Engineering,Shanghai,China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033587288","display_name":"Chao Huang","orcid":"https://orcid.org/0000-0002-6951-8137"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Huang","raw_affiliation_strings":["Tongji University,Department of Control Science and Engineering,Shanghai,China","Department of Control Science and Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,Department of Control Science and Engineering,Shanghai,China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100396911","display_name":"Hao Zhang","orcid":"https://orcid.org/0000-0002-4527-9610"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Zhang","raw_affiliation_strings":["Tongji University,Department of Control Science and Engineering,Shanghai,China","Department of Control Science and Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,Department of Control Science and Engineering,Shanghai,China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040673729","display_name":"Zhuping Wang","orcid":"https://orcid.org/0000-0002-0334-4082"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuping Wang","raw_affiliation_strings":["Tongji University,Department of Control Science and Engineering,Shanghai,China","Department of Control Science and Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,Department of Control Science and Engineering,Shanghai,China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103156279","display_name":"Deyang Kong","orcid":"https://orcid.org/0000-0003-0024-7196"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Deyang Kong","raw_affiliation_strings":["Tongji University,Center for Automotive Industry School of Automotive Studies,Shanghai,China","Center for Automotive Industry School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,Center for Automotive Industry School of Automotive Studies,Shanghai,China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Center for Automotive Industry School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":0.1621,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.54212986,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"138","last_page":"143"},"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/T10482","display_name":"Mathematical and Theoretical Epidemiology and Ecology Models","score":0.9869999885559082,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11896","display_name":"Opportunistic and Delay-Tolerant Networks","score":0.982699990272522,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7399659156799316},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6711906790733337},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.6605229377746582},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6241393685340881},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.6145738363265991},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5674001574516296},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5609130263328552},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.5097197890281677},{"id":"https://openalex.org/keywords/graph-theory","display_name":"Graph theory","score":0.5051310658454895},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.46023038029670715},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4319433569908142},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4313303828239441},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4225076735019684},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4152206778526306},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41431325674057007},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3777832090854645},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2636142075061798},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2184530794620514},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19114816188812256},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.15194016695022583},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.0904378592967987},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.07712990045547485}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7399659156799316},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6711906790733337},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.6605229377746582},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6241393685340881},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.6145738363265991},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5674001574516296},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5609130263328552},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.5097197890281677},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.5051310658454895},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.46023038029670715},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4319433569908142},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4313303828239441},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4225076735019684},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4152206778526306},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41431325674057007},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3777832090854645},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2636142075061798},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2184530794620514},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19114816188812256},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.15194016695022583},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0904378592967987},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.07712990045547485},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icaci49185.2020.9177846","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icaci49185.2020.9177846","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 12th International Conference on Advanced Computational Intelligence (ICACI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6899999976158142,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1981826826","https://openalex.org/W2018449733","https://openalex.org/W2044559140","https://openalex.org/W2082829278","https://openalex.org/W2112812942","https://openalex.org/W2162496869","https://openalex.org/W2168003214","https://openalex.org/W2168515859","https://openalex.org/W2168904841","https://openalex.org/W2248946215","https://openalex.org/W2485509705","https://openalex.org/W2501023430","https://openalex.org/W2545563200","https://openalex.org/W2565972716","https://openalex.org/W2768109589","https://openalex.org/W2773592580","https://openalex.org/W2802069151","https://openalex.org/W2810686339","https://openalex.org/W2887970150","https://openalex.org/W3022312225","https://openalex.org/W4233647833","https://openalex.org/W6661764474"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2172235251","https://openalex.org/W2022120107","https://openalex.org/W2624388109"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,25,28,46,49,73,79,96,99],"formation":[4,34,75,84,101],"control":[5,13,31,80,85],"with":[6],"obstacle":[7],"avoidance":[8],"for":[9,45],"multi-agent":[10],"systems.":[11],"The":[12,82],"task":[14],"is":[15,43,62,70,87,103],"finished":[16],"by":[17,106],"a":[18],"weighted":[19],"graph":[20,50],"and":[21],"consensus":[22],"theory.":[23],"With":[24],"utilization":[26],"of":[27,48,98],"weights":[29],"in":[30],"law,":[32],"desired":[33],"shape":[35],"can":[36,77],"be":[37],"reached.":[38],"An":[39],"appropriate":[40],"weight":[41],"function":[42],"designed":[44],"edges":[47],"to":[51,90],"avoid":[52],"obstacles.":[53],"For":[54],"complex":[55],"obstacles":[56],"distribution,":[57],"an":[58],"adaptive":[59],"tension":[60],"coefficient":[61],"proposed.":[63],"Based":[64],"on":[65],"Lyapunov":[66],"stability":[67],"theory,":[68],"it":[69],"proved":[71],"that":[72],"proposed":[74,83,100],"approach":[76],"realize":[78],"objective.":[81],"strategy":[86],"also":[88],"extended":[89],"non-holonomic":[91],"wheeled":[92],"robot":[93],"model.":[94],"Finally,":[95],"effectiveness":[97],"scheme":[102],"further":[104],"confirmed":[105],"simulation":[107],"studies.":[108]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}