{"id":"https://openalex.org/W2584383911","doi":"https://doi.org/10.1109/icarcv.2016.7838736","title":"A consensus based algorithm for formation control under directed and switching graphs","display_name":"A consensus based algorithm for formation control under directed and switching graphs","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2584383911","doi":"https://doi.org/10.1109/icarcv.2016.7838736","mag":"2584383911"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2016.7838736","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2016.7838736","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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/A5078316510","display_name":"Xiwang Dong","orcid":"https://orcid.org/0000-0002-4778-248X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiwang Dong","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, P.R. China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, P.R. China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081556345","display_name":"Jie Xiang","orcid":"https://orcid.org/0000-0001-5437-1884"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Xiang","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, P.R. China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, P.R. China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029368153","display_name":"Qingdong Li","orcid":"https://orcid.org/0000-0003-4817-6841"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingdong Li","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, P.R. China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, P.R. China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100384129","display_name":"Zhang Ren","orcid":"https://orcid.org/0000-0002-6109-4085"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhang Ren","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, P.R. China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, P.R. China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5078316510"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.2895,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.66777444,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"61","issue":null,"first_page":"1","last_page":"6"},"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/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.9905999898910522,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9842000007629395,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/dwell-time","display_name":"Dwell time","score":0.7378366589546204},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.7178542613983154},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.6181377172470093},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5308763980865479},{"id":"https://openalex.org/keywords/directed-graph","display_name":"Directed graph","score":0.5181047320365906},{"id":"https://openalex.org/keywords/piecewise-linear-function","display_name":"Piecewise linear function","score":0.5012688636779785},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4804762899875641},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.4801763594150543},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.45385465025901794},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4443615674972534},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4222542941570282},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.38338562846183777},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.364737331867218},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35351669788360596},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31550031900405884},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.19123414158821106},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08300173282623291}],"concepts":[{"id":"https://openalex.org/C151637689","wikidata":"https://www.wikidata.org/wiki/Q5318064","display_name":"Dwell time","level":2,"score":0.7378366589546204},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.7178542613983154},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.6181377172470093},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5308763980865479},{"id":"https://openalex.org/C146380142","wikidata":"https://www.wikidata.org/wiki/Q1137726","display_name":"Directed graph","level":2,"score":0.5181047320365906},{"id":"https://openalex.org/C17095337","wikidata":"https://www.wikidata.org/wiki/Q2375229","display_name":"Piecewise linear function","level":2,"score":0.5012688636779785},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4804762899875641},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.4801763594150543},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.45385465025901794},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4443615674972534},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4222542941570282},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.38338562846183777},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.364737331867218},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35351669788360596},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31550031900405884},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.19123414158821106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08300173282623291},{"id":"https://openalex.org/C70410870","wikidata":"https://www.wikidata.org/wiki/Q199906","display_name":"Clinical psychology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2016.7838736","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2016.7838736","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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":30,"referenced_works":["https://openalex.org/W1484563256","https://openalex.org/W1517023801","https://openalex.org/W1592417386","https://openalex.org/W1974974031","https://openalex.org/W1981826826","https://openalex.org/W1982425003","https://openalex.org/W1982947074","https://openalex.org/W1989746389","https://openalex.org/W1997686693","https://openalex.org/W2035945038","https://openalex.org/W2036571133","https://openalex.org/W2042733674","https://openalex.org/W2046660626","https://openalex.org/W2072020080","https://openalex.org/W2080183025","https://openalex.org/W2091446596","https://openalex.org/W2092360189","https://openalex.org/W2095877777","https://openalex.org/W2099175737","https://openalex.org/W2100098232","https://openalex.org/W2106353989","https://openalex.org/W2112058052","https://openalex.org/W2119120935","https://openalex.org/W2123876595","https://openalex.org/W2146890818","https://openalex.org/W2165413656","https://openalex.org/W2217864392","https://openalex.org/W2330464261","https://openalex.org/W3128424044","https://openalex.org/W6629058823"],"related_works":["https://openalex.org/W2967346707","https://openalex.org/W2733990813","https://openalex.org/W2980902902","https://openalex.org/W1673091696","https://openalex.org/W2008482549","https://openalex.org/W2783646289","https://openalex.org/W4312920186","https://openalex.org/W2335243741","https://openalex.org/W3128530751","https://openalex.org/W3127473589"],"abstract_inverted_index":{"Formation":[0],"control":[1,36],"problems":[2],"for":[3],"linear":[4,65],"multi-agent":[5,66],"systems":[6,67],"with":[7,68],"switching":[8,69],"and":[9,83],"directed":[10,70],"topologies":[11,71],"are":[12],"investigated.":[13],"A":[14,93],"consensus":[15],"based":[16],"protocol":[17],"is":[18,30,44,53,87,96],"constructed":[19],"using":[20,46],"local":[21],"neighboring":[22],"information.":[23],"An":[24],"algorithm":[25,43],"consisting":[26],"of":[27,40,102],"three":[28],"steps":[29],"presented":[31],"to":[32,78,98],"design":[33],"the":[34,41,47,56,64,73,79,84,100,103],"formation":[35,59,76,81],"protocol.":[37],"The":[38],"stability":[39],"proposed":[42],"proven":[45],"piecewise":[48],"Lyapunov":[49],"function":[50],"theory.":[51],"It":[52],"obtained":[54],"that":[55],"predefined":[57],"time-varying":[58,75],"can":[60],"be":[61],"achieved":[62],"by":[63],"if":[72],"given":[74],"belongs":[77],"feasible":[80],"set":[82],"dwell":[85],"time":[86],"larger":[88],"than":[89],"a":[90],"positive":[91],"threshold.":[92],"numerical":[94],"simulation":[95],"provided":[97],"demonstrate":[99],"effectiveness":[101],"theoretical":[104],"results.":[105]},"counts_by_year":[{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
