{"id":"https://openalex.org/W3138202649","doi":"https://doi.org/10.1109/icra48506.2021.9561492","title":"Multi-agent Aerial Monitoring of Moving Convoys using Elliptical Orbits","display_name":"Multi-agent Aerial Monitoring of Moving Convoys using Elliptical Orbits","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3138202649","doi":"https://doi.org/10.1109/icra48506.2021.9561492","mag":"3138202649"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561492","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":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2103.11574","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041903522","display_name":"Aseem V. Borkar","orcid":"https://orcid.org/0000-0002-2242-7617"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aseem V. Borkar","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois at Urbana Champaign, USA","***University of Illinois at Urbana-Champaign"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois at Urbana Champaign, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"***University of Illinois at Urbana-Champaign","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073739058","display_name":"Girish Chowdhary","orcid":"https://orcid.org/0000-0002-4657-307X"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Girish Chowdhary","raw_affiliation_strings":["Agricultural and Biological Engineering and Computer Science, University of Illinois Urbana-Champaign, USA","***University of Illinois at Urbana-Champaign"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Agricultural and Biological Engineering and Computer Science, University of Illinois Urbana-Champaign, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"***University of Illinois at Urbana-Champaign","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8999","last_page":"9005"},"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":0.9995999932289124,"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/T12158","display_name":"Guidance and Control Systems","score":0.9991999864578247,"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/trajectory","display_name":"Trajectory","score":0.7378593683242798},{"id":"https://openalex.org/keywords/elliptic-orbit","display_name":"Elliptic orbit","score":0.6135348081588745},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.6090548634529114},{"id":"https://openalex.org/keywords/orbit","display_name":"Orbit (dynamics)","score":0.5814047455787659},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.502500057220459},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4685082733631134},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4177935719490051},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3959719240665436},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3195791244506836},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2813427448272705},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20518463850021362},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19306355714797974},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17854246497154236},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.14179754257202148},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08388075232505798}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7378593683242798},{"id":"https://openalex.org/C173990265","wikidata":"https://www.wikidata.org/wiki/Q2268240","display_name":"Elliptic orbit","level":2,"score":0.6135348081588745},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.6090548634529114},{"id":"https://openalex.org/C196644772","wikidata":"https://www.wikidata.org/wiki/Q3884964","display_name":"Orbit (dynamics)","level":2,"score":0.5814047455787659},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.502500057220459},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4685082733631134},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4177935719490051},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3959719240665436},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3195791244506836},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2813427448272705},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20518463850021362},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19306355714797974},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17854246497154236},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.14179754257202148},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08388075232505798},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9561492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561492","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:arXiv.org:2103.11574","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.11574","pdf_url":"https://arxiv.org/pdf/2103.11574","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3138202649","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2103.11574","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2103.11574","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2103.11574","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2103.11574","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.11574","pdf_url":"https://arxiv.org/pdf/2103.11574","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5099999904632568,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1523888516","display_name":null,"funder_award_id":"FA9550-","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"},{"id":"https://openalex.org/G5809100787","display_name":null,"funder_award_id":"FA9550","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"},{"id":"https://openalex.org/G7084746226","display_name":null,"funder_award_id":"FA9550-15-1-0146","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"}],"funders":[{"id":"https://openalex.org/F4320332222","display_name":"University of Illinois at Urbana-Champaign","ror":"https://ror.org/047426m28"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3138202649.pdf","grobid_xml":"https://content.openalex.org/works/W3138202649.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W622964856","https://openalex.org/W1126974217","https://openalex.org/W1550101847","https://openalex.org/W2090160766","https://openalex.org/W2119577500","https://openalex.org/W2130379316","https://openalex.org/W2134585674","https://openalex.org/W2148424094","https://openalex.org/W2159956441","https://openalex.org/W2162192359","https://openalex.org/W2313337253","https://openalex.org/W2318946746","https://openalex.org/W2319218832","https://openalex.org/W2570164482","https://openalex.org/W2617536634","https://openalex.org/W2735146411","https://openalex.org/W2765494614","https://openalex.org/W2893647991","https://openalex.org/W2963102878","https://openalex.org/W2979950562","https://openalex.org/W3021230401","https://openalex.org/W3080988596","https://openalex.org/W3098209217","https://openalex.org/W3207968845","https://openalex.org/W6673276053","https://openalex.org/W6741266571"],"related_works":["https://openalex.org/W3207968845","https://openalex.org/W2893647991","https://openalex.org/W3184105002","https://openalex.org/W2783808878","https://openalex.org/W2107292630","https://openalex.org/W2154675550","https://openalex.org/W2901263265","https://openalex.org/W2531763529","https://openalex.org/W2144966925","https://openalex.org/W3084755046","https://openalex.org/W2032944291","https://openalex.org/W2891451782","https://openalex.org/W2963193457","https://openalex.org/W1544011055","https://openalex.org/W3118647290","https://openalex.org/W2028369781","https://openalex.org/W1978570723","https://openalex.org/W2898166639","https://openalex.org/W2081836959","https://openalex.org/W2173586229"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,8,14,22,27,67,79,126,132,141],"novel":[3],"scheme":[4,58,117],"for":[5,46,62,71,106],"surveillance":[6],"of":[7,50,86,128,134],"dynamic":[9],"ground":[10,129],"convoy":[11,127],"moving":[12,54],"along":[13,74],"non-linear":[15],"trajectory,":[16],"by":[17],"aerial":[18,88,114,138],"agents":[19,89],"that":[20],"maintain":[21,96],"uniformly":[23],"spaced":[24],"formation":[25],"on":[26,112],"time-varying":[28],"elliptical":[29,65],"orbit":[30],"encompassing":[31],"the":[32,48,53,75,84,87,97,113,137],"convoy.":[33,55],"Elliptical":[34],"orbits":[35,45],"are":[36,40],"used":[37],"as":[38,136],"they":[39],"more":[41],"economical":[42],"than":[43],"circular":[44],"circumnavigating":[47],"group":[49],"targets":[51],"in":[52,90,140],"The":[56,116],"proposed":[57],"includes":[59],"an":[60],"algorithm":[61],"computing":[63],"feasible":[64],"orbits,":[66],"vector":[68],"guidance":[69],"law":[70],"agent":[72],"motion":[73,142],"desired":[76,98],"orbit,":[77],"and":[78,95,108,122,131],"cooperative":[80],"strategy":[81],"to":[82,92],"control":[83],"speeds":[85],"order":[91],"quickly":[93],"achieve":[94],"formation.":[99],"It":[100],"achieves":[101],"mission":[102],"objectives":[103],"while":[104],"accounting":[105],"linear":[107],"angular":[109],"speed":[110],"constraints":[111],"agents.":[115],"is":[118],"validated":[119],"through":[120],"simulations":[121],"actual":[123],"experiments":[124],"with":[125],"robots":[130],"team":[133],"quadrotors":[135],"agents,":[139],"capture":[143],"environment.":[144]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}