{"id":"https://openalex.org/W4401416185","doi":"https://doi.org/10.1109/icra57147.2024.10611041","title":"Leveraging Tethers for Distributed Formation Control of Simple Robots","display_name":"Leveraging Tethers for Distributed Formation Control of Simple Robots","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416185","doi":"https://doi.org/10.1109/icra57147.2024.10611041"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611041","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611041","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5071621921","display_name":"Sadie Cutler","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sadie Cutler","raw_affiliation_strings":["Cornell University,Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA,14853"],"affiliations":[{"raw_affiliation_string":"Cornell University,Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA,14853","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048633771","display_name":"Kirstin Petersen","orcid":"https://orcid.org/0000-0002-7813-5621"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kirstin Petersen","raw_affiliation_strings":["Cornell University,School of Electrical and Computer Engineering,Ithaca,NY,USA,14853"],"affiliations":[{"raw_affiliation_string":"Cornell University,School of Electrical and Computer Engineering,Ithaca,NY,USA,14853","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5071621921"],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":0.7326,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.71796377,"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":"10588","last_page":"10594"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9980000257492065,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9864000082015991,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.7101000547409058},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6842050552368164},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6630282998085022},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4553459584712982},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.45162904262542725},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4257185459136963},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3986894488334656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2460457980632782}],"concepts":[{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.7101000547409058},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6842050552368164},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6630282998085022},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4553459584712982},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45162904262542725},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4257185459136963},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3986894488334656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2460457980632782},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/icra57147.2024.10611041","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611041","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1981826826","https://openalex.org/W2062169127","https://openalex.org/W2091920496","https://openalex.org/W2113507916","https://openalex.org/W2137331970","https://openalex.org/W2150312211","https://openalex.org/W2555245517","https://openalex.org/W2735333313","https://openalex.org/W2766448463","https://openalex.org/W2766821096","https://openalex.org/W2796974626","https://openalex.org/W2883383381","https://openalex.org/W2891114892","https://openalex.org/W2933899040","https://openalex.org/W3155800259","https://openalex.org/W3199668880","https://openalex.org/W4206116921","https://openalex.org/W4285740581","https://openalex.org/W4296552195","https://openalex.org/W4300194571","https://openalex.org/W4327615728","https://openalex.org/W4381425959","https://openalex.org/W6676669290","https://openalex.org/W6782007079"],"related_works":["https://openalex.org/W1585007175","https://openalex.org/W2382521049","https://openalex.org/W2144385241","https://openalex.org/W4300101996","https://openalex.org/W2165950148","https://openalex.org/W4253593777","https://openalex.org/W2951497643","https://openalex.org/W2142393343","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Tethers":[0],"have":[1],"great":[2],"potential":[3],"in":[4,32,55,68],"multi-robot":[5],"systems":[6],"from":[7],"enabling":[8],"retrieval":[9],"of":[10,74,120,141],"deployed":[11],"robots":[12,21],"and":[13,62,66,112,127,146,162,167],"facilitating":[14],"power":[15],"transfer,":[16],"to":[17,40,77,83,102,107,159],"use":[18,63,160],"by":[19,57],"the":[20,71,75,139,144,157],"as":[22],"a":[23,88,97,117],"net":[24],"or":[25],"partition.":[26],"In":[27],"this":[28],"paper,":[29],"we":[30],"show":[31],"simulation":[33],"that":[34],"tethers":[35,61,161],"can":[36],"also":[37],"be":[38],"used":[39],"do":[41],"distributed":[42],"formation":[43,93],"control":[44,94],"on":[45,116],"very":[46],"simple":[47],"robots.":[48],"Specifically,":[49],"our":[50],"simulated":[51],"agents":[52,126],"are":[53],"connected":[54],"series":[56],"un-actuated,":[58],"flexible,":[59],"fixed-length":[60],"tether":[64],"angle":[65],"strain,":[67],"conjunction":[69],"with":[70,81,124,131,138],"physical":[72],"constraints":[73],"tethers,":[76],"adjust":[78],"their":[79,84],"position":[80],"respect":[82],"neighbors.":[85],"This":[86],"presents":[87],"significant":[89],"simplification":[90],"over":[91],"traditional":[92],"which,":[95],"at":[96],"minimum,":[98],"requires":[99],"exteroceptive":[100],"sensors":[101],"perceive":[103],"bearing":[104],"and/or":[105],"distance":[106],"nearby":[108],"agents.":[109,133],"We":[110],"present":[111],"evaluate":[113],"an":[114,128],"algorithm":[115],"large":[118],"set":[119],"transitions":[121],"between":[122],"formations":[123],"5":[125],"example":[129],"transition":[130],"35":[132],"The":[134],"convergence":[135],"time":[136,148],"grows":[137],"number":[140],"agents,":[142],"however,":[143],"memory":[145],"computation":[147],"per":[149],"agent":[150],"remain":[151],"constant.":[152],"Future":[153],"work":[154],"will":[155],"investigate":[156],"ability":[158],"strain":[163],"for":[164],"reactive":[165],"behaviors":[166],"more":[168],"diverse":[169],"tasks.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}