{"id":"https://openalex.org/W7135175660","doi":"https://doi.org/10.1109/iccp68926.2025.11427142","title":"Consensus Line Formations in Non-Holonomic Multi-Robot Systems Enabled by Decentralized Approximate MST","display_name":"Consensus Line Formations in Non-Holonomic Multi-Robot Systems Enabled by Decentralized Approximate MST","publication_year":2025,"publication_date":"2025-10-16","ids":{"openalex":"https://openalex.org/W7135175660","doi":"https://doi.org/10.1109/iccp68926.2025.11427142"},"language":null,"primary_location":{"id":"doi:10.1109/iccp68926.2025.11427142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccp68926.2025.11427142","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st International Conference on Intelligent Computer Communication and Processing (ICCP)","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/A5039895432","display_name":"Dan Novischi","orcid":null},"institutions":[{"id":"https://openalex.org/I61641377","display_name":"Universitatea Na\u021bional\u0103 de \u0218tiin\u021b\u0103 \u0219i Tehnologie Politehnica Bucure\u0219ti","ror":"https://ror.org/0558j5q12","country_code":"RO","type":"education","lineage":["https://openalex.org/I61641377"]}],"countries":["RO"],"is_corresponding":true,"raw_author_name":"Dan M. Novischi","raw_affiliation_strings":["University Politehnica of Bucharest,dept. Computers Science,Bucharest,Romania"],"affiliations":[{"raw_affiliation_string":"University Politehnica of Bucharest,dept. Computers Science,Bucharest,Romania","institution_ids":["https://openalex.org/I61641377"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074295040","display_name":"Adina Magda Florea","orcid":"https://orcid.org/0000-0001-7249-1871"},"institutions":[{"id":"https://openalex.org/I61641377","display_name":"Universitatea Na\u021bional\u0103 de \u0218tiin\u021b\u0103 \u0219i Tehnologie Politehnica Bucure\u0219ti","ror":"https://ror.org/0558j5q12","country_code":"RO","type":"education","lineage":["https://openalex.org/I61641377"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Adina M. Florea","raw_affiliation_strings":["University Politehnica of Bucharest,dept. Computers Science,Bucharest,Romania"],"affiliations":[{"raw_affiliation_string":"University Politehnica of Bucharest,dept. Computers Science,Bucharest,Romania","institution_ids":["https://openalex.org/I61641377"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5039895432"],"corresponding_institution_ids":["https://openalex.org/I61641377"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.79681848,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.5220000147819519,"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":0.5220000147819519,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.30660000443458557,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12288","display_name":"Optimization and Search Problems","score":0.055799998342990875,"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/line","display_name":"Line (geometry)","score":0.3871000111103058},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.2667999863624573},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.2667999863624573},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.25099998712539673},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.24729999899864197}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5196999907493591},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.3871000111103058},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.28119999170303345},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2757999897003174},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2667999863624573},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2667999863624573},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.25099998712539673},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2506999969482422},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.24729999899864197},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.24070000648498535}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iccp68926.2025.11427142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccp68926.2025.11427142","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st International Conference on Intelligent Computer Communication and Processing (ICCP)","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":18,"referenced_works":["https://openalex.org/W2132984198","https://openalex.org/W2160643434","https://openalex.org/W2898934358","https://openalex.org/W3127070120","https://openalex.org/W3135449381","https://openalex.org/W3156289526","https://openalex.org/W3195174502","https://openalex.org/W4283376618","https://openalex.org/W4285214494","https://openalex.org/W4313470486","https://openalex.org/W4320008682","https://openalex.org/W4327661833","https://openalex.org/W4383097623","https://openalex.org/W4384705417","https://openalex.org/W4385984415","https://openalex.org/W4391468555","https://openalex.org/W4404563297","https://openalex.org/W4413822998"],"related_works":[],"abstract_inverted_index":{"We":[0],"introduce":[1],"a":[2,28,63,73],"fully":[3],"decentralized":[4],"strategy":[5],"enabling":[6],"teams":[7],"of":[8],"non-holonomic":[9],"mobile":[10],"robots":[11,46],"to":[12,24,51,78,86,95,125],"autonomously":[13],"form":[14,53],"and":[15,91,102,129],"maintain":[16],"stable,":[17],"configurable":[18],"line-shaped":[19],"formations":[20],"during":[21],"navigation.":[22],"Central":[23],"our":[25],"approach":[26],"is":[27],"lightweight":[29],"communication":[30],"backbone":[31],"implemented":[32],"as":[33],"an":[34],"approximate":[35],"minimum":[36],"spanning":[37,55],"tree":[38],"(MST),":[39],"constructed":[40],"efficiently":[41],"in":[42],"two":[43],"stages.":[44],"First,":[45],"use":[47],"local":[48,80],"geometric":[49],"criteria":[50],"rapidly":[52],"initial":[54],"fragments,":[56],"which":[57],"are":[58],"then":[59],"incrementally":[60],"merged":[61],"through":[62],"decentralized,":[64],"multi-scale":[65],"Boruvka-inspired":[66],"process.":[67],"Leveraging":[68],"this":[69],"structure,":[70],"we":[71],"extend":[72],"potential":[74],"field-based":[75],"formation":[76,104,127],"controller":[77],"incorporate":[79],"alignment":[81],"behaviors,":[82],"allowing":[83],"each":[84],"robot":[85],"dynamically":[87],"adjust":[88],"its":[89],"orientation":[90],"inter-robot":[92],"spacing":[93],"according":[94],"user-defined":[96],"configurations.":[97],"This":[98],"framework":[99],"ensures":[100],"robust":[101],"scalable":[103],"control":[105],"without":[106],"relying":[107],"on":[108],"global":[109],"knowledge":[110],"or":[111],"predefined":[112],"network":[113],"topologies.":[114],"Extensive":[115],"simulations":[116],"confirm":[117],"the":[118],"strategy\u2019s":[119],"effectiveness,":[120],"demonstrating":[121],"rapid":[122],"convergence,":[123],"adaptability":[124],"evolving":[126],"configurations,":[128],"guaranteed":[130],"asymptotic":[131],"stability.":[132]},"counts_by_year":[],"updated_date":"2026-03-15T07:15:06.534987","created_date":"2026-03-14T00:00:00"}
