{"id":"https://openalex.org/W4413925768","doi":"https://doi.org/10.1109/icra55743.2025.11128354","title":"Design of a Formation Control System to Assist Human Operators in Flying a Swarm of Robotic Blimps","display_name":"Design of a Formation Control System to Assist Human Operators in Flying a Swarm of Robotic Blimps","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925768","doi":"https://doi.org/10.1109/icra55743.2025.11128354"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128354","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128354","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5091159460","display_name":"Tianfu Wu","orcid":"https://orcid.org/0000-0001-8911-5506"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Tianfu Wu","raw_affiliation_strings":["Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001130000","display_name":"Jiaqi Fu","orcid":"https://orcid.org/0000-0003-0081-6133"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaqi Fu","raw_affiliation_strings":["School of Software Engineering, Beijing Jiaotong University,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Software Engineering, Beijing Jiaotong University,Beijing,China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044278564","display_name":"Wugang Meng","orcid":"https://orcid.org/0000-0003-4289-2409"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wugang Meng","raw_affiliation_strings":["Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032469638","display_name":"Sungjin Cho","orcid":"https://orcid.org/0000-0002-5694-310X"},"institutions":[{"id":"https://openalex.org/I199143407","display_name":"Sunchon National University","ror":"https://ror.org/043jqrs76","country_code":"KR","type":"education","lineage":["https://openalex.org/I199143407"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sungjin Cho","raw_affiliation_strings":["Sunchon National University,Department of Electronic Engineering,Suncheon,South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sunchon National University,Department of Electronic Engineering,Suncheon,South Korea","institution_ids":["https://openalex.org/I199143407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080363224","display_name":"Huanzhe Zhan","orcid":null},"institutions":[{"id":"https://openalex.org/I150468666","display_name":"Emory University","ror":"https://ror.org/03czfpz43","country_code":"US","type":"education","lineage":["https://openalex.org/I150468666"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Huanzhe Zhan","raw_affiliation_strings":["Emory University,Department of Computer Science,Atlanta,GA,USA,30322"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Emory University,Department of Computer Science,Atlanta,GA,USA,30322","institution_ids":["https://openalex.org/I150468666"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068994727","display_name":"Fumin Zhang","orcid":"https://orcid.org/0000-0003-0053-4224"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Fumin Zhang","raw_affiliation_strings":["Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8699,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.87468531,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"8929","last_page":"8935"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9797000288963318,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9797000288963318,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9581000208854675,"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"}},{"id":"https://openalex.org/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9560999870300293,"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/swarm-behaviour","display_name":"Swarm behaviour","score":0.6471356153488159},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.508775532245636},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4599207639694214},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4531538486480713},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3950551152229309},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3798673450946808},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3338789939880371},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24384915828704834}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6471356153488159},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.508775532245636},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4599207639694214},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4531538486480713},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3950551152229309},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3798673450946808},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3338789939880371},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24384915828704834}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra55743.2025.11128354","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128354","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-167007","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-167007","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1584534477","https://openalex.org/W2016975264","https://openalex.org/W2118433948","https://openalex.org/W2247170265","https://openalex.org/W2333718310","https://openalex.org/W2737540556","https://openalex.org/W2804608195","https://openalex.org/W2973025780","https://openalex.org/W2990847010","https://openalex.org/W3207644545","https://openalex.org/W4226512380","https://openalex.org/W4229007520","https://openalex.org/W4283834141","https://openalex.org/W4285235494","https://openalex.org/W4319302559","https://openalex.org/W4390060461","https://openalex.org/W4399794336"],"related_works":["https://openalex.org/W4288714711","https://openalex.org/W3200708550","https://openalex.org/W2736680465","https://openalex.org/W2771637876","https://openalex.org/W4294093918","https://openalex.org/W4240853094","https://openalex.org/W2810496283","https://openalex.org/W2170656329","https://openalex.org/W3131977017","https://openalex.org/W3205823858"],"abstract_inverted_index":{"Formation":[0],"control":[1,21],"is":[2,65,92,110],"essential":[3],"for":[4,23,83],"swarm":[5,27,55],"robotics,":[6],"enabling":[7],"coordinated":[8],"behavior":[9],"in":[10],"complex":[11],"environments.":[12],"In":[13],"this":[14],"paper,":[15],"we":[16],"introduce":[17],"a":[18,29,35,69,80,107],"novel":[19],"formation":[20,59],"system":[22],"an":[24],"indoor":[25,127],"blimp":[26,43,64],"using":[28],"specialized":[30],"leader-follower":[31],"approach":[32],"enhanced":[33],"with":[34],"dynamic":[36,126],"leader-switching":[37,90,117],"mechanism.":[38],"This":[39],"strategy":[40],"allows":[41],"any":[42],"to":[44,94,99,125],"take":[45],"on":[46],"the":[47,54,62,96,103,116],"leader":[48,63],"role,":[49],"distributing":[50],"maneuvering":[51],"demands":[52],"across":[53],"and":[56,79,86,123],"enhancing":[57],"overall":[58],"stability.":[60],"Only":[61],"manually":[66],"controlled":[67],"by":[68],"human":[70,97,131],"operator,":[71],"while":[72,129],"follower":[73],"blimps":[74],"use":[75],"onboard":[76],"monocular":[77],"cameras":[78],"laser":[81],"altimeter":[82],"relative":[84],"position":[85],"altitude":[87],"estimation.":[88],"A":[89],"scheme":[91],"proposed":[93],"assist":[95],"operator":[98],"maintain":[100],"stability":[101],"of":[102],"swarm,":[104],"especially":[105],"when":[106],"sharp":[108],"turn":[109],"performed.":[111],"Experimental":[112],"results":[113],"confirm":[114],"that":[115],"mechanism":[118],"effectively":[119],"maintains":[120],"stable":[121],"formations":[122],"adapts":[124],"environments":[128],"assisting":[130],"operator.":[132]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}