{"id":"https://openalex.org/W3207049974","doi":"https://doi.org/10.1109/icra48506.2021.9561192","title":"A Finite-Gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation","display_name":"A Finite-Gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207049974","doi":"https://doi.org/10.1109/icra48506.2021.9561192","mag":"3207049974"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561192","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561192","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 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/A5071216935","display_name":"Ribin Balachandran","orcid":"https://orcid.org/0000-0002-7560-471X"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ribin Balachandran","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001084080","display_name":"Hrishik Mishra","orcid":"https://orcid.org/0000-0002-5025-2447"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hrishik Mishra","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058741030","display_name":"Michael Panzirsch","orcid":"https://orcid.org/0000-0002-0647-7147"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Panzirsch","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":4.0775,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.94951042,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1579","last_page":"1585"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9926999807357788,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9926999807357788,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9871000051498413,"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/T10868","display_name":"Soft Robotics and Applications","score":0.944599986076355,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/passivity","display_name":"Passivity","score":0.8622090816497803},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6989163756370544},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6876668334007263},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.6268039345741272},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6069376468658447},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5797926187515259},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.5613385438919067},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5451632142066956},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.44450849294662476},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4299302101135254},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3590691089630127},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3090518116950989},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1898583471775055},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15315082669258118},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.09725481271743774}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.8622090816497803},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6989163756370544},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6876668334007263},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.6268039345741272},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6069376468658447},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5797926187515259},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.5613385438919067},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5451632142066956},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.44450849294662476},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4299302101135254},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3590691089630127},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3090518116950989},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1898583471775055},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15315082669258118},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.09725481271743774},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48506.2021.9561192","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561192","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:147106","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ICRA48506.2021.9561192>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1601087573","https://openalex.org/W1967377907","https://openalex.org/W1974357213","https://openalex.org/W2010256126","https://openalex.org/W2023883583","https://openalex.org/W2039042162","https://openalex.org/W2044187300","https://openalex.org/W2070328658","https://openalex.org/W2097978498","https://openalex.org/W2098393146","https://openalex.org/W2111533228","https://openalex.org/W2112474089","https://openalex.org/W2113265921","https://openalex.org/W2120132860","https://openalex.org/W2153631465","https://openalex.org/W2165050974","https://openalex.org/W2167932216","https://openalex.org/W2295903373","https://openalex.org/W2330171556","https://openalex.org/W2419152648","https://openalex.org/W2566542686","https://openalex.org/W2644364269","https://openalex.org/W2766053765","https://openalex.org/W2883461065","https://openalex.org/W2909468150","https://openalex.org/W2912799359","https://openalex.org/W2988334419","https://openalex.org/W2998720436","https://openalex.org/W3090637565","https://openalex.org/W3091218135","https://openalex.org/W3102817735","https://openalex.org/W4250461041","https://openalex.org/W6758974393"],"related_works":["https://openalex.org/W4233304828","https://openalex.org/W4239268637","https://openalex.org/W2952841825","https://openalex.org/W1977819874","https://openalex.org/W2051296765","https://openalex.org/W2960878236","https://openalex.org/W153449849","https://openalex.org/W1991810297","https://openalex.org/W2032253950","https://openalex.org/W1819950161"],"abstract_inverted_index":{"Multi-agent":[0],"control":[1,14,91],"of":[2,20,38,65,85],"a":[3,22,63,77,87],"robot":[4,33,90],"using":[5,34],"multiple":[6],"controllers":[7],"is":[8,101],"vital":[9],"in":[10,49,62],"domains":[11],"like":[12],"shared":[13],"and":[15,30,67,105],"reliable":[16],"control.":[17],"The":[18],"strategy":[19,60],"assigning":[21],"varying":[23],"priority":[24],"(authority)":[25],"to":[26,81],"each":[27],"agent":[28],"controller,":[29],"commanding":[31],"the":[32,39,44,70,99],"an":[35],"authority-weighted":[36],"sum":[37],"forces":[40],"produced":[41],"by":[42],"all":[43],"agents":[45],"has":[46],"been":[47],"exploited":[48],"prior":[50],"works.":[51],"In":[52],"this":[53,59],"paper,":[54],"firstly,":[55],"we":[56,68,75],"show":[57],"that":[58],"results":[61],"loss":[64],"passivity,":[66],"identify":[69],"passivity-disrupting":[71],"scaling-related":[72],"terms.":[73],"Secondly,":[74],"propose":[76],"model":[78],"independent":[79],"method":[80],"ensure":[82],"finite-gain":[83],"L2stability":[84],"such":[86],"generic":[88],"multi-agent":[89],"system":[92],"with":[93,103],"time-varying":[94],"force":[95],"scaling":[96],"factors.":[97],"Thirdly,":[98],"analysis":[100],"validated":[102],"simulations":[104],"hardware":[106],"experiments.":[107]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
