{"id":"https://openalex.org/W2003865094","doi":"https://doi.org/10.1109/icca.2010.5524123","title":"Implementation of formation flight of multiple unmanned aerial vehicles","display_name":"Implementation of formation flight of multiple unmanned aerial vehicles","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2003865094","doi":"https://doi.org/10.1109/icca.2010.5524123","mag":"2003865094"},"language":"en","primary_location":{"id":"doi:10.1109/icca.2010.5524123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2010.5524123","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ICCA 2010","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/A5025673939","display_name":"Xiangxu Dong","orcid":"https://orcid.org/0009-0000-8327-5154"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xiangxu Dong","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore","[Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"[Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore]","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026576438","display_name":"Guowei Cai","orcid":"https://orcid.org/0000-0002-9670-9780"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Guowei Cai","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore","[Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"[Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore]","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074009647","display_name":"Feng Lin","orcid":"https://orcid.org/0000-0001-9929-8721"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Feng Lin","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore","[Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"[Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore]","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100428803","display_name":"Ben M. Chen","orcid":"https://orcid.org/0000-0002-3839-5787"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ben M. Chen","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore","[Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"[Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore]","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045445273","display_name":"Hai Lin","orcid":"https://orcid.org/0000-0002-5242-2366"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hai Lin","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore","[Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"[Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore]","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008952174","display_name":"Tong H. Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Tong H. Lee","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore","[Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"[Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore]","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.8805,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.67778961,"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":"904","last_page":"909"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9987000226974487,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9980999827384949,"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/flight-test","display_name":"Flight test","score":0.8539171814918518},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6594582796096802},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.5751742124557495},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5214497447013855},{"id":"https://openalex.org/keywords/flight-simulator","display_name":"Flight simulator","score":0.4745931327342987},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.47429636120796204},{"id":"https://openalex.org/keywords/flight-management-system","display_name":"Flight management system","score":0.4642795920372009},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42445042729377747},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3320040702819824},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08681592345237732}],"concepts":[{"id":"https://openalex.org/C2777943292","wikidata":"https://www.wikidata.org/wiki/Q3319996","display_name":"Flight test","level":2,"score":0.8539171814918518},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6594582796096802},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.5751742124557495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5214497447013855},{"id":"https://openalex.org/C41376638","wikidata":"https://www.wikidata.org/wiki/Q214932","display_name":"Flight simulator","level":2,"score":0.4745931327342987},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.47429636120796204},{"id":"https://openalex.org/C132577290","wikidata":"https://www.wikidata.org/wiki/Q657919","display_name":"Flight management system","level":3,"score":0.4642795920372009},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42445042729377747},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3320040702819824},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08681592345237732},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icca.2010.5524123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2010.5524123","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ICCA 2010","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/51188","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/51188","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1682337356","https://openalex.org/W2073144514","https://openalex.org/W2115775310","https://openalex.org/W2123216430","https://openalex.org/W2151563974","https://openalex.org/W2161127398","https://openalex.org/W2168038514","https://openalex.org/W6683663272"],"related_works":["https://openalex.org/W3200013394","https://openalex.org/W4308644232","https://openalex.org/W1594585648","https://openalex.org/W123884769","https://openalex.org/W1990361167","https://openalex.org/W2367825092","https://openalex.org/W2356636095","https://openalex.org/W4308644004","https://openalex.org/W2554630046","https://openalex.org/W4294674467"],"abstract_inverted_index":{"We":[0],"present":[1],"in":[2],"this":[3],"paper":[4],"the":[5,29,34,46,50],"actual":[6],"implementation":[7],"results":[8,62],"of":[9,12],"flight":[10,23,30,47],"formation":[11,22,31],"multiple":[13],"unmanned":[14,54],"helicopters.":[15],"More":[16],"specifically,":[17],"we":[18],"consider":[19],"a":[20,37,41],"leader-follower":[21],"behavior":[24],"with":[25,33,49],"two":[26],"scenarios:":[27],"1)":[28],"test":[32,48],"leader":[35,51],"being":[36,52],"manned":[38],"helicopter":[39],"following":[40,56],"zigzag-like":[42],"trajectory,":[43],"and":[44,58],"2)":[45],"an":[53],"system":[55],"circle":[57],"raceway":[59],"paths.":[60],"Experimental":[61],"show":[63],"that":[64],"our":[65],"design":[66],"is":[67],"very":[68],"successful.":[69]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}