{"id":"https://openalex.org/W1497544832","doi":"https://doi.org/10.1109/icra.2015.7139434","title":"Efficient leader selection for translation and scale of a bearing-compass formation","display_name":"Efficient leader selection for translation and scale of a bearing-compass formation","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1497544832","doi":"https://doi.org/10.1109/icra.2015.7139434","mag":"1497544832"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139434","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5052371636","display_name":"Eric Schoof","orcid":"https://orcid.org/0000-0001-5005-6422"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Eric Schoof","raw_affiliation_strings":["University of Washington, WA","Dept. of Aeronautics and Astronautics, University of Washington, 98105, USA"],"affiliations":[{"raw_affiliation_string":"University of Washington, WA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Dept. of Aeronautics and Astronautics, University of Washington, 98105, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060665833","display_name":"Airlie Chapman","orcid":"https://orcid.org/0000-0002-8946-552X"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Airlie Chapman","raw_affiliation_strings":["University of Washington, WA","Dept. of Aeronautics and Astronautics, University of Washington, 98105, USA"],"affiliations":[{"raw_affiliation_string":"University of Washington, WA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Dept. of Aeronautics and Astronautics, University of Washington, 98105, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040511603","display_name":"Mehran Mesbahi","orcid":"https://orcid.org/0000-0001-6972-6588"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mehran Mesbahi","raw_affiliation_strings":["University of Washington, WA","Dept. of Aeronautics and Astronautics, University of Washington, 98105, USA"],"affiliations":[{"raw_affiliation_string":"University of Washington, WA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Dept. of Aeronautics and Astronautics, University of Washington, 98105, USA","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5052371636"],"corresponding_institution_ids":["https://openalex.org/I201448701"],"apc_list":null,"apc_paid":null,"fwci":0.3328,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.62431278,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1816","last_page":"1821"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9966999888420105,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.986299991607666,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/computer-science","display_name":"Computer science","score":0.7028370499610901},{"id":"https://openalex.org/keywords/modularity","display_name":"Modularity (biology)","score":0.658183217048645},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.6531929969787598},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.6508970856666565},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6265339255332947},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5806024074554443},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.5698694586753845},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47593024373054504},{"id":"https://openalex.org/keywords/compass","display_name":"Compass","score":0.4585513770580292},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4301326274871826},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.34389519691467285},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2966017425060272},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18793445825576782}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7028370499610901},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.658183217048645},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.6531929969787598},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.6508970856666565},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6265339255332947},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5806024074554443},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5698694586753845},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47593024373054504},{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.4585513770580292},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4301326274871826},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.34389519691467285},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2966017425060272},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18793445825576782},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139434","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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":26,"referenced_works":["https://openalex.org/W613360614","https://openalex.org/W1498671329","https://openalex.org/W1635192251","https://openalex.org/W1680189815","https://openalex.org/W1982762133","https://openalex.org/W2001829445","https://openalex.org/W2006501180","https://openalex.org/W2011039300","https://openalex.org/W2018200927","https://openalex.org/W2021623772","https://openalex.org/W2024995587","https://openalex.org/W2040114800","https://openalex.org/W2067461601","https://openalex.org/W2067707207","https://openalex.org/W2093976773","https://openalex.org/W2099397914","https://openalex.org/W2107918847","https://openalex.org/W2109583010","https://openalex.org/W2121451926","https://openalex.org/W2138624490","https://openalex.org/W2139535228","https://openalex.org/W2476096155","https://openalex.org/W3099523636","https://openalex.org/W3100460145","https://openalex.org/W3118655244","https://openalex.org/W6636752975"],"related_works":["https://openalex.org/W2883256816","https://openalex.org/W2206872286","https://openalex.org/W2382913035","https://openalex.org/W2113447385","https://openalex.org/W2391335452","https://openalex.org/W2171408034","https://openalex.org/W3003320923","https://openalex.org/W2360876323","https://openalex.org/W2106140982","https://openalex.org/W1550790738"],"abstract_inverted_index":{"The":[0,18,39,92],"paper":[1],"considers":[2],"the":[3,29,54,82],"efficient":[4],"selection":[5,40,94],"of":[6,28],"leader":[7,93],"agents":[8],"in":[9],"a":[10,13,36,73,87,101],"swarm":[11,102],"running":[12],"distributed":[14],"bearing-compass":[15],"formation":[16],"controller.":[17],"leaders":[19],"apply":[20],"external":[21],"control":[22],"which":[23],"induces":[24],"translation":[25,44,70],"and":[26,45,50,59,71],"scaling":[27],"formation,":[30],"providing":[31],"manipulation":[32],"methods":[33],"useful":[34],"to":[35,80,86],"human":[37],"operator.":[38],"algorithm":[41,77],"for":[42],"maximizing":[43],"scale":[46],"draws":[47],"from":[48],"modularity":[49],"submodularity":[51],"theory.":[52],"Consequently,":[53],"algorithms":[55],"exhibit":[56],"guaranteed":[57],"optimal":[58],"suboptimal":[60],"performance,":[61],"respectively.":[62],"For":[63],"more":[64],"restricted":[65],"human-swarm":[66],"interaction":[67],"requiring":[68],"pure":[69],"scale,":[72],"relaxed":[74],"integer":[75],"programming":[76],"is":[78],"described":[79],"reduce":[81],"combinatorial":[83],"optimization":[84],"problem":[85],"computationally":[88],"tractable":[89],"semidefinite":[90],"program.":[91],"strategies":[95],"are":[96],"supported":[97],"through":[98],"demonstration":[99],"on":[100],"testbed.":[103]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
