{"id":"https://openalex.org/W1979155879","doi":"https://doi.org/10.1109/icnsc.2013.6548729","title":"Formation flying control via elliptical virtual structure","display_name":"Formation flying control via elliptical virtual structure","publication_year":2013,"publication_date":"2013-04-01","ids":{"openalex":"https://openalex.org/W1979155879","doi":"https://doi.org/10.1109/icnsc.2013.6548729","mag":"1979155879"},"language":"en","primary_location":{"id":"doi:10.1109/icnsc.2013.6548729","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icnsc.2013.6548729","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 10th IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL (ICNSC)","raw_type":"proceedings-article"},"type":"preprint","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/A5070901065","display_name":"A Kahn","orcid":"https://orcid.org/0000-0001-5478-7919"},"institutions":[{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"A. Kahn","raw_affiliation_strings":["The French Aerospace Laboratory, ONERA, Palaiseau, France","French Aerosp. Lab., ONERA, Palaiseau, France"],"affiliations":[{"raw_affiliation_string":"The French Aerospace Laboratory, ONERA, Palaiseau, France","institution_ids":["https://openalex.org/I2801658355"]},{"raw_affiliation_string":"French Aerosp. Lab., ONERA, Palaiseau, France","institution_ids":["https://openalex.org/I2801658355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072536302","display_name":"Julien Marzat","orcid":"https://orcid.org/0000-0002-5041-272X"},"institutions":[{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"J. Marzat","raw_affiliation_strings":["The French Aerospace Laboratory, ONERA, Palaiseau, France","French Aerosp. Lab., ONERA, Palaiseau, France"],"affiliations":[{"raw_affiliation_string":"The French Aerospace Laboratory, ONERA, Palaiseau, France","institution_ids":["https://openalex.org/I2801658355"]},{"raw_affiliation_string":"French Aerosp. Lab., ONERA, Palaiseau, France","institution_ids":["https://openalex.org/I2801658355"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063263525","display_name":"H\u00e9l\u00e8ne Piet-Lahanier","orcid":"https://orcid.org/0000-0001-8247-7790"},"institutions":[{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"H. Piet-Lahanier","raw_affiliation_strings":["The French Aerospace Laboratory, ONERA, Palaiseau, France","French Aerosp. Lab., ONERA, Palaiseau, France"],"affiliations":[{"raw_affiliation_string":"The French Aerospace Laboratory, ONERA, Palaiseau, France","institution_ids":["https://openalex.org/I2801658355"]},{"raw_affiliation_string":"French Aerosp. Lab., ONERA, Palaiseau, France","institution_ids":["https://openalex.org/I2801658355"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5070901065"],"corresponding_institution_ids":["https://openalex.org/I2801658355"],"apc_list":null,"apc_paid":null,"fwci":0.72414375,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.73852394,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"158","last_page":"163"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9994000196456909,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6868208646774292},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6754027605056763},{"id":"https://openalex.org/keywords/ellipse","display_name":"Ellipse","score":0.6153456568717957},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.590869128704071},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5861122608184814},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.5752382874488831},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.48707225918769836},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.47341495752334595},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.45473557710647583},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4186105728149414},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40697038173675537},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35911500453948975},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1498934030532837},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10955077409744263},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.10019785165786743},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07980728149414062},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07250669598579407}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6868208646774292},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6754027605056763},{"id":"https://openalex.org/C74261601","wikidata":"https://www.wikidata.org/wiki/Q40112","display_name":"Ellipse","level":2,"score":0.6153456568717957},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.590869128704071},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5861122608184814},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.5752382874488831},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.48707225918769836},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.47341495752334595},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.45473557710647583},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4186105728149414},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40697038173675537},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35911500453948975},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1498934030532837},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10955077409744263},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.10019785165786743},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07980728149414062},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07250669598579407},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icnsc.2013.6548729","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icnsc.2013.6548729","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 10th IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL (ICNSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W921565","https://openalex.org/W1895812186","https://openalex.org/W1982490110","https://openalex.org/W1989507862","https://openalex.org/W1996118086","https://openalex.org/W2001428612","https://openalex.org/W2015410655","https://openalex.org/W2097346851","https://openalex.org/W2112812942","https://openalex.org/W2115263115","https://openalex.org/W2119120935","https://openalex.org/W2123883273","https://openalex.org/W2129977790","https://openalex.org/W2130647945","https://openalex.org/W2134989587","https://openalex.org/W2137714578","https://openalex.org/W2139369541","https://openalex.org/W2150312211","https://openalex.org/W2165744313","https://openalex.org/W6647489476","https://openalex.org/W6679868739"],"related_works":["https://openalex.org/W2371136327","https://openalex.org/W2890757232","https://openalex.org/W4293234107","https://openalex.org/W2370549269","https://openalex.org/W2386824811","https://openalex.org/W2354618530","https://openalex.org/W2081226903","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,11,21,55,132,137],"guidance":[4,47],"law":[5,48],"for":[6],"the":[7,43,67,72,77,83,95,98,101,107,117,125,128],"formation":[8,17],"flight":[9],"of":[10,13,42,76,82,97,127,134],"flock":[12],"autonomous":[14],"vehicles.":[15],"The":[16,45,63,80,103],"is":[18,49,85],"defined":[19],"by":[20],"virtual":[22],"geometrical":[23],"structure":[24,68,99,118],"-":[25,29],"here,":[26],"an":[27],"ellipse":[28],"that":[30],"can":[31],"modify":[32],"its":[33],"shape":[34],"and":[35,74,113],"orientation":[36],"to":[37,70,89,100,111,130],"avoid":[38],"collision":[39],"with":[40,54],"obstacles":[41],"environment.":[44,102],"proposed":[46],"divided":[50],"into":[51],"two":[52],"layers,":[53],"model":[56],"predictive":[57],"control":[58],"scheme":[59],"at":[60],"each":[61],"level.":[62],"higher":[64],"layer":[65,105],"controls":[66,106],"itself":[69],"fulfill":[71],"goals":[73],"constraints":[75],"required":[78],"mission.":[79],"trajectory":[81],"fleet":[84,133],"built":[86],"on-line":[87],"thanks":[88],"this":[90],"layer,":[91],"as":[92,94,110],"well":[93],"adaptation":[96],"lower":[104],"vehicles,":[108],"so":[109],"attract":[112],"keep":[114],"them":[115],"inside":[116],"without":[119],"side":[120],"collision.":[121],"Simulation":[122],"results":[123],"illustrate":[124],"interest":[126],"approach":[129],"guide":[131],"vehicles":[135],"towards":[136],"target":[138],"while":[139],"avoiding":[140],"obstacles.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
