{"id":"https://openalex.org/W2156224814","doi":"https://doi.org/10.1109/icarcv.2010.5707780","title":"Neuro-adaptive virtual leader based formation control of multi-unmanned ground vehicles","display_name":"Neuro-adaptive virtual leader based formation control of multi-unmanned ground vehicles","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2156224814","doi":"https://doi.org/10.1109/icarcv.2010.5707780","mag":"2156224814"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2010.5707780","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2010.5707780","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 11th International Conference on Control Automation Robotics &amp; Vision","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/A5051162020","display_name":"Zan Yao","orcid":null},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zan Yao","raw_affiliation_strings":["Center of Intelligent System and Renewable Energy, Beijing Jiaotong University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Intelligent System and Renewable Energy, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109228643","display_name":"Y. D. Song","orcid":null},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Y. D. Song","raw_affiliation_strings":["Center of Intelligent System and Renewable Energy, Beijing Jiaotong University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Intelligent System and Renewable Energy, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033744258","display_name":"Wenchuan Cai","orcid":"https://orcid.org/0000-0002-4435-5343"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenchuan Cai","raw_affiliation_strings":["Center of Intelligent System and Renewable Energy, Beijing Jiaotong University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Intelligent System and Renewable Energy, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I21193070"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"615","last_page":"620"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9975000023841858,"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/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/singularity","display_name":"Singularity","score":0.7285627722740173},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6775394082069397},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6440559029579163},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6242449879646301},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5659845471382141},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5636062026023865},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5104712247848511},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5069944858551025},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.49019891023635864},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.48506370186805725},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4686790108680725},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4592364728450775},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.45216572284698486},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3389512300491333},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3012833595275879},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2109263837337494},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1171826422214508},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07788622379302979}],"concepts":[{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.7285627722740173},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6775394082069397},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6440559029579163},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6242449879646301},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5659845471382141},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5636062026023865},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5104712247848511},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5069944858551025},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.49019891023635864},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.48506370186805725},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4686790108680725},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4592364728450775},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.45216572284698486},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3389512300491333},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3012833595275879},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2109263837337494},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1171826422214508},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07788622379302979},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2010.5707780","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2010.5707780","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 11th International Conference on Control Automation Robotics &amp; Vision","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W147774908","https://openalex.org/W164192076","https://openalex.org/W1987725083","https://openalex.org/W1997435751","https://openalex.org/W1997693398","https://openalex.org/W2008516441","https://openalex.org/W2098194630","https://openalex.org/W2113442785","https://openalex.org/W2114847465","https://openalex.org/W2125397232","https://openalex.org/W2130273525","https://openalex.org/W2130647945","https://openalex.org/W2130762434","https://openalex.org/W2133551186","https://openalex.org/W2133700592","https://openalex.org/W4236879725","https://openalex.org/W6606723151","https://openalex.org/W6676952960","https://openalex.org/W6679547838","https://openalex.org/W6680047237"],"related_works":["https://openalex.org/W2108470770","https://openalex.org/W1512021029","https://openalex.org/W1972862722","https://openalex.org/W2281732014","https://openalex.org/W2063351494","https://openalex.org/W1562326332","https://openalex.org/W2319803529","https://openalex.org/W1550017747","https://openalex.org/W2152839317","https://openalex.org/W2913641967"],"abstract_inverted_index":{"The":[0,16,77,148],"problem":[1,18,93],"of":[2,5,36,56,152],"formation":[3,48,55,117],"control":[4,27,71,118,133],"multiple":[6,57],"unmanned":[7],"ground":[8],"vehicles":[9,39],"(UGVs)":[10],"is":[11,19,83,119],"studied":[12],"in":[13,46,54],"this":[14,59,81],"paper.":[15],"underlying":[17],"essentially":[20],"a":[21],"high":[22,145],"dimensional":[23],"multi-vehicle":[24],"trajectory":[25],"tracking":[26],"problem,":[28],"its":[29],"complexity":[30,52],"grows":[31],"significantly":[32],"as":[33],"the":[34,37,43,51,73,86,92,95,105,111,115,123,153],"number":[35],"involved":[38,53],"increases.":[40],"To":[41],"address":[42],"singularity":[44,112],"inherent":[45],"regular":[47],"process":[49],"and":[50,128,150],"vehicles,":[58],"paper":[60],"attempts":[61],"an":[62],"approach":[63,82],"that":[64,97],"integrates":[65],"robust":[66,130],"adaptive":[67,131],"neural":[68],"network":[69],"(NN)":[70],"with":[72,114],"virtual":[74,87,106],"leader":[75],"concept.":[76],"fundamental":[78],"idea":[79],"behind":[80],"to":[84,90,103,140,143],"use":[85],"leader-follower":[88],"format":[89],"convert":[91],"into":[94],"one":[96],"only":[98],"involves":[99,125],"each":[100],"individual":[101],"vehicle":[102],"track":[104],"leader.":[107],"By":[108],"doing":[109],"so,":[110],"associated":[113],"traditional":[116],"also":[120,157],"avoided.":[121],"As":[122],"system":[124],"significant":[126],"nonlinearities":[127],"uncertainties,":[129],"NN":[132],"algorithms":[134],"are":[135,138,156],"developed,":[136],"which":[137],"shown":[139],"be":[141],"able":[142],"achieve":[144],"precision":[146],"formation.":[147],"feasibility":[149],"effectiveness":[151],"proposed":[154],"method":[155],"verified":[158],"by":[159],"simulation":[160],"studies.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
