{"id":"https://openalex.org/W2415175524","doi":"https://doi.org/10.1109/icra.2016.7487163","title":"Kinematic multi-robot manipulation with no communication using force feedback","display_name":"Kinematic multi-robot manipulation with no communication using force feedback","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2415175524","doi":"https://doi.org/10.1109/icra.2016.7487163","mag":"2415175524"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487163","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487163","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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/A5100371700","display_name":"Zijian Wang","orcid":"https://orcid.org/0000-0001-9402-8423"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zijian Wang","raw_affiliation_strings":["Department of Mechanical Engineering, Boston University, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Boston University, Boston, MA, USA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081950488","display_name":"Mac Schwager","orcid":"https://orcid.org/0000-0002-7871-3663"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mac Schwager","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.1009,"has_fulltext":false,"cited_by_count":115,"citation_normalized_percentile":{"value":0.9764395,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"427","last_page":"432"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991999864578247,"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":0.998199999332428,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.796926736831665},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6014657616615295},{"id":"https://openalex.org/keywords/physics-engine","display_name":"Physics engine","score":0.5933642387390137},{"id":"https://openalex.org/keywords/intuition","display_name":"Intuition","score":0.5931267142295837},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5659435391426086},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5091325640678406},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4834478795528412},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.46196526288986206},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.449320912361145},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4413209855556488},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3780618906021118},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36350369453430176},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33276742696762085},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2905222475528717},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07865515351295471}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.796926736831665},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6014657616615295},{"id":"https://openalex.org/C190390380","wikidata":"https://www.wikidata.org/wiki/Q62505","display_name":"Physics engine","level":2,"score":0.5933642387390137},{"id":"https://openalex.org/C132010649","wikidata":"https://www.wikidata.org/wiki/Q189222","display_name":"Intuition","level":2,"score":0.5931267142295837},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5659435391426086},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5091325640678406},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4834478795528412},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.46196526288986206},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.449320912361145},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4413209855556488},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3780618906021118},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36350369453430176},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33276742696762085},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2905222475528717},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07865515351295471},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487163","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487163","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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":26,"referenced_works":["https://openalex.org/W1417686762","https://openalex.org/W1501490493","https://openalex.org/W1537022493","https://openalex.org/W1560903273","https://openalex.org/W1973405980","https://openalex.org/W2023850386","https://openalex.org/W2028158833","https://openalex.org/W2035363985","https://openalex.org/W2046178935","https://openalex.org/W2056371542","https://openalex.org/W2072752912","https://openalex.org/W2112474089","https://openalex.org/W2114914224","https://openalex.org/W2117927893","https://openalex.org/W2120617969","https://openalex.org/W2145136688","https://openalex.org/W2152754876","https://openalex.org/W2154007976","https://openalex.org/W2207313513","https://openalex.org/W2259942851","https://openalex.org/W2291304229","https://openalex.org/W2408457438","https://openalex.org/W6677274095","https://openalex.org/W6682457298","https://openalex.org/W6688285240","https://openalex.org/W6714090148"],"related_works":["https://openalex.org/W2331850854","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W4312096302","https://openalex.org/W2972304526","https://openalex.org/W2900509454","https://openalex.org/W2101598871","https://openalex.org/W2109003837","https://openalex.org/W2005471069","https://openalex.org/W2119963650"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,12,17,104,111,135,139,151],"novel":[4],"decentralized":[5],"algorithm":[6,100,118,145],"that":[7,27,40,60,68],"coordinates":[8],"the":[9,46,49,52,64,78,81,90,147,157],"forces":[10,74],"of":[11,14,23,48,51,80],"group":[13],"robots":[15,109],"during":[16],"cooperative":[18],"manipulation":[19,162],"task.":[20],"The":[21],"highlight":[22],"our":[24,70,99,117,144,161],"approach":[25],"is":[26,30,39],"no":[28],"communication":[29],"needed":[31],"between":[32],"any":[33],"two":[34],"robots.":[35],"Our":[36],"underlying":[37],"intuition":[38],"every":[41],"follower":[42],"robot":[43],"can":[44],"measure":[45],"direction":[47,61,79],"movement":[50],"object":[53],"and":[54,130,153],"then":[55,115],"applies":[56],"its":[57,94],"force":[58,82,129],"along":[59],"to":[62,77,93,133,149],"reinforce":[63],"movement.":[65],"We":[66,96,114],"prove":[67],"using":[69],"algorithm,":[71],"all":[72],"followers'":[73],"will":[75],"synchronize":[76],"applied":[83],"by":[84,101,122],"one":[85],"leader":[86,148],"robot,":[87],"who":[88],"guides":[89],"robotic":[91],"fleet":[92],"destination.":[95],"first":[97],"verify":[98],"simulation":[102],"in":[103,119,138,160],"physics":[105],"engine,":[106],"where":[107],"20":[108],"transport":[110,134],"chair":[112],"collectively.":[113],"validate":[116],"hardware":[120],"experiments":[121],"building":[123],"four":[124],"low-cost":[125],"robots,":[126],"equipped":[127],"with":[128],"velocity":[131],"sensors,":[132],"cardboard":[136],"box":[137],"laboratory":[140],"environment.":[141],"In":[142],"addition,":[143],"allows":[146],"be":[150],"human,":[152],"we":[154],"also":[155],"demonstrate":[156],"human-swarm":[158],"cooperation":[159],"experiments.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}