{"id":"https://openalex.org/W2969092468","doi":"https://doi.org/10.1109/icra.2019.8793765","title":"Distributed Multi-Robot Formation Splitting and Merging in Dynamic Environments","display_name":"Distributed Multi-Robot Formation Splitting and Merging in Dynamic Environments","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2969092468","doi":"https://doi.org/10.1109/icra.2019.8793765","mag":"2969092468"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793765","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793765","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5003219071","display_name":"Hai Zhu","orcid":"https://orcid.org/0000-0002-9780-5053"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Hai Zhu","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, CD, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019649912","display_name":"Jelle Juhl","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Jelle Juhl","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, CD, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029788290","display_name":"Laura Ferranti","orcid":"https://orcid.org/0000-0003-3856-6221"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Laura Ferranti","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, CD, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013297671","display_name":"Javier Alonso\u2013Mora","orcid":"https://orcid.org/0000-0003-0058-570X"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Javier Alonso-Mora","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, CD, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9080","last_page":"9086"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9984999895095825,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9937000274658203,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7286533117294312},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7068983316421509},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7015224099159241},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6899377703666687},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6649608612060547},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.6137118935585022},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5858475565910339},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.5370420813560486},{"id":"https://openalex.org/keywords/distributed-algorithm","display_name":"Distributed algorithm","score":0.52298903465271},{"id":"https://openalex.org/keywords/visibility-graph","display_name":"Visibility graph","score":0.47031059861183167},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4531658887863159},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.45234668254852295},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.43113014101982117},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.40299955010414124},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2885230779647827},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25371941924095154},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.20443496108055115},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1811276376247406},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13438215851783752},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09594008326530457}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7286533117294312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7068983316421509},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7015224099159241},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6899377703666687},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6649608612060547},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.6137118935585022},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5858475565910339},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.5370420813560486},{"id":"https://openalex.org/C130120984","wikidata":"https://www.wikidata.org/wiki/Q2835898","display_name":"Distributed algorithm","level":2,"score":0.52298903465271},{"id":"https://openalex.org/C173362246","wikidata":"https://www.wikidata.org/wiki/Q8216024","display_name":"Visibility graph","level":3,"score":0.47031059861183167},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4531658887863159},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.45234668254852295},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.43113014101982117},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.40299955010414124},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2885230779647827},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25371941924095154},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.20443496108055115},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1811276376247406},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13438215851783752},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09594008326530457},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2019.8793765","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793765","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:tudelft.nl:uuid:58f6730e-10cb-46fe-a7f1-caa80f79e617","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:58f6730e-10cb-46fe-a7f1-caa80f79e617","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2889751301","display_name":null,"funder_award_id":"15916","funder_id":"https://openalex.org/F4320321800","funder_display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek"}],"funders":[{"id":"https://openalex.org/F4320321800","display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek","ror":"https://ror.org/04jsz6e67"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1489244333","https://openalex.org/W1537022493","https://openalex.org/W1910515323","https://openalex.org/W1981826826","https://openalex.org/W2006625750","https://openalex.org/W2033388390","https://openalex.org/W2038498300","https://openalex.org/W2057929279","https://openalex.org/W2062731992","https://openalex.org/W2096966876","https://openalex.org/W2102626941","https://openalex.org/W2105850748","https://openalex.org/W2107292630","https://openalex.org/W2107918847","https://openalex.org/W2119120935","https://openalex.org/W2140628556","https://openalex.org/W2166967570","https://openalex.org/W2245915858","https://openalex.org/W2417411739","https://openalex.org/W2479264922","https://openalex.org/W2544041682","https://openalex.org/W2736863856","https://openalex.org/W2883383381"],"related_works":["https://openalex.org/W4311233134","https://openalex.org/W2743652671","https://openalex.org/W2911638885","https://openalex.org/W2032709970","https://openalex.org/W2066813664","https://openalex.org/W2519024191","https://openalex.org/W2159176266","https://openalex.org/W2963183586","https://openalex.org/W2094166299","https://openalex.org/W4388826510"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,106],"distributed":[4,27],"method":[5,37,69,94],"for":[6,39],"splitting":[7],"and":[8,18,22,29,44,50,59,74,78,81,89,102],"merging":[9,23],"of":[10,47,55,62,91,108],"multi-robot":[11],"formations":[12],"in":[13,95],"dynamic":[14],"environments":[15],"with":[16,97,105],"static":[17],"moving":[19],"obstacles.":[20,35],"Splitting":[21],"actions":[24],"rely":[25],"on":[26,52],"consensus":[28],"can":[30],"be":[31],"performed":[32],"to":[33,72,99],"avoid":[34],"Our":[36],"accounts":[38],"the":[40,48,53,60,87,92],"limited":[41],"communication":[42,54,80],"range":[43],"visibility":[45],"radius":[46],"robots":[49],"relies":[51],"obstacle-free":[56],"convex":[57],"regions":[58],"computation":[61],"an":[63],"intersection":[64],"graph.":[65],"In":[66],"addition,":[67],"our":[68],"is":[70],"able":[71],"detect":[73],"recover":[75],"from":[76],"(permanent":[77],"temporary)":[79],"motion":[82],"faults.":[83],"Finally,":[84],"we":[85],"demonstrate":[86],"applicability":[88],"scalability":[90],"proposed":[93],"simulations":[96],"up":[98],"sixteen":[100],"quadrotors":[101],"real-world":[103],"experiments":[104],"team":[107],"four":[109],"quadrotors.":[110]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
