{"id":"https://openalex.org/W3107431054","doi":"https://doi.org/10.1109/icca51439.2020.9264359","title":"Time-varying formation tracking control for UAV-UGV heterogeneous swarm systems with switching directed topologies","display_name":"Time-varying formation tracking control for UAV-UGV heterogeneous swarm systems with switching directed topologies","publication_year":2020,"publication_date":"2020-10-09","ids":{"openalex":"https://openalex.org/W3107431054","doi":"https://doi.org/10.1109/icca51439.2020.9264359","mag":"3107431054"},"language":"en","primary_location":{"id":"doi:10.1109/icca51439.2020.9264359","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca51439.2020.9264359","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Control &amp; Automation (ICCA)","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/A5047501238","display_name":"Siquan Zhou","orcid":null},"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":"Siquan Zhou","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing, P.R. China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing, P.R. China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","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":false,"raw_author_name":"Xiwang Dong","raw_affiliation_strings":["Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, P.R. China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Big Data and Brain Computing, 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, Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing, P.R. China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Science and Technology on Aircraft Control Laboratory, 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":["Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, P.R. China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Big Data and Brain Computing, 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/A5047501238"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.9251,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.77696465,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1068","last_page":"1073"},"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/T11133","display_name":"UAV Applications and Optimization","score":0.9975000023841858,"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"}},{"id":"https://openalex.org/T10482","display_name":"Mathematical and Theoretical Epidemiology and Ecology Models","score":0.9876999855041504,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6650565266609192},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6278738975524902},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.6212234497070312},{"id":"https://openalex.org/keywords/algebraic-connectivity","display_name":"Algebraic connectivity","score":0.5880895853042603},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5517869591712952},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.5504438281059265},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5413380265235901},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.535013735294342},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.506442666053772},{"id":"https://openalex.org/keywords/algebraic-graph-theory","display_name":"Algebraic graph theory","score":0.4808969497680664},{"id":"https://openalex.org/keywords/flocking","display_name":"Flocking (texture)","score":0.4701048731803894},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4666561782360077},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.44626376032829285},{"id":"https://openalex.org/keywords/graph-theory","display_name":"Graph theory","score":0.42360496520996094},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.376128226518631},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33873260021209717},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26406991481781006},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2105330228805542},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17059272527694702},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13976803421974182},{"id":"https://openalex.org/keywords/laplacian-matrix","display_name":"Laplacian matrix","score":0.08812397718429565}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6650565266609192},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6278738975524902},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.6212234497070312},{"id":"https://openalex.org/C7948225","wikidata":"https://www.wikidata.org/wiki/Q4723998","display_name":"Algebraic connectivity","level":4,"score":0.5880895853042603},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5517869591712952},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.5504438281059265},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5413380265235901},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.535013735294342},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.506442666053772},{"id":"https://openalex.org/C25799778","wikidata":"https://www.wikidata.org/wiki/Q4724003","display_name":"Algebraic graph theory","level":3,"score":0.4808969497680664},{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.4701048731803894},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4666561782360077},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.44626376032829285},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.42360496520996094},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.376128226518631},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33873260021209717},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26406991481781006},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2105330228805542},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17059272527694702},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13976803421974182},{"id":"https://openalex.org/C115178988","wikidata":"https://www.wikidata.org/wiki/Q772067","display_name":"Laplacian matrix","level":3,"score":0.08812397718429565},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"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/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icca51439.2020.9264359","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca51439.2020.9264359","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Control &amp; Automation (ICCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322857","display_name":"Aeronautical Science Foundation of China","ror":"https://ror.org/02wq41p38"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1592417386","https://openalex.org/W1982947074","https://openalex.org/W2036571133","https://openalex.org/W2048917402","https://openalex.org/W2115775310","https://openalex.org/W2499597001","https://openalex.org/W2502990994","https://openalex.org/W2508148686","https://openalex.org/W2526626679","https://openalex.org/W2556654037","https://openalex.org/W2590210788","https://openalex.org/W2614186282","https://openalex.org/W2732460262","https://openalex.org/W2802343062","https://openalex.org/W2810066499","https://openalex.org/W2896216259","https://openalex.org/W2896793697","https://openalex.org/W2909077198","https://openalex.org/W2940830480","https://openalex.org/W2953052131","https://openalex.org/W4213367573","https://openalex.org/W6758163910","https://openalex.org/W6761406871"],"related_works":["https://openalex.org/W1549793141","https://openalex.org/W2111838183","https://openalex.org/W1561390775","https://openalex.org/W1965767595","https://openalex.org/W2138607226","https://openalex.org/W2167295287","https://openalex.org/W2230836177","https://openalex.org/W2783379762","https://openalex.org/W2388938997","https://openalex.org/W2208184575"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"time-varying":[3,22,84],"formation":[4,23,56,85],"tracking":[5,57,86],"control":[6,40,58,95,113],"problems":[7],"for":[8,42],"UAV-UGV":[9,43],"heterogeneous":[10,44],"swarm":[11,45],"systems.":[12],"The":[13],"UAVs":[14],"and":[15,24,67,89],"UGVs":[16],"need":[17],"to":[18,81,92,106],"achieve":[19,82],"the":[20,26,38,55,68,78,83,90,94,108,111],"desired":[21],"track":[25],"reference":[27],"trajectory":[28],"of":[29,110],"a":[30,62,100],"leader":[31],"synchronously":[32],"under":[33],"switching":[34],"directed":[35],"topologies.":[36],"Firstly,":[37],"cooperative":[39],"model":[41],"system":[46],"is":[47,65,70,97,104],"established":[48],"by":[49,72],"using":[50,73],"algebraic":[51],"graph":[52],"theory.":[53,76],"Then,":[54],"protocol":[59],"based":[60],"on":[61],"distributed":[63],"observer":[64],"designed":[66],"convergence":[69],"proved":[71],"piecewise":[74],"Lyapunov":[75],"Furthermore,":[77],"feasible":[79],"conditions":[80],"are":[87],"analyzed,":[88],"algorithm":[91],"select":[93],"parameters":[96],"proposed.":[98],"Finally,":[99],"numerical":[101],"simulation":[102],"example":[103],"provided":[105],"demonstrate":[107],"effectiveness":[109],"proposed":[112],"approach.":[114]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
