{"id":"https://openalex.org/W2098044719","doi":"https://doi.org/10.1109/iri.2011.6009590","title":"Modeling and controlling 3D formations and flocking behavior of unmanned air vehicles","display_name":"Modeling and controlling 3D formations and flocking behavior of unmanned air vehicles","publication_year":2011,"publication_date":"2011-08-01","ids":{"openalex":"https://openalex.org/W2098044719","doi":"https://doi.org/10.1109/iri.2011.6009590","mag":"2098044719"},"language":"en","primary_location":{"id":"doi:10.1109/iri.2011.6009590","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iri.2011.6009590","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Information Reuse & Integration","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/A5071929352","display_name":"F. Belkhouche","orcid":"https://orcid.org/0000-0002-0083-086X"},"institutions":[{"id":"https://openalex.org/I43522216","display_name":"California State University, Sacramento","ror":"https://ror.org/03e26wv14","country_code":"US","type":"education","lineage":["https://openalex.org/I43522216"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"F. Belkhouche","raw_affiliation_strings":["Electrical and Electronic Engineering, California State University, Sacramento, CA, USA","Electrical and Electronic Engineering, California State University, Sacramento, 95918, USA"],"affiliations":[{"raw_affiliation_string":"Electrical and Electronic Engineering, California State University, Sacramento, CA, USA","institution_ids":["https://openalex.org/I43522216"]},{"raw_affiliation_string":"Electrical and Electronic Engineering, California State University, Sacramento, 95918, USA","institution_ids":["https://openalex.org/I43522216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061716954","display_name":"S. Vadhva","orcid":null},"institutions":[{"id":"https://openalex.org/I43522216","display_name":"California State University, Sacramento","ror":"https://ror.org/03e26wv14","country_code":"US","type":"education","lineage":["https://openalex.org/I43522216"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Vadhva","raw_affiliation_strings":["Electrical and Electronic Engineering, California State University, Sacramento, CA, USA","Electrical and Electronic Engineering, California State University, Sacramento, 95918, USA"],"affiliations":[{"raw_affiliation_string":"Electrical and Electronic Engineering, California State University, Sacramento, CA, USA","institution_ids":["https://openalex.org/I43522216"]},{"raw_affiliation_string":"Electrical and Electronic Engineering, California State University, Sacramento, 95918, USA","institution_ids":["https://openalex.org/I43522216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108378284","display_name":"M. Vaziri","orcid":null},"institutions":[{"id":"https://openalex.org/I43522216","display_name":"California State University, Sacramento","ror":"https://ror.org/03e26wv14","country_code":"US","type":"education","lineage":["https://openalex.org/I43522216"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Vaziri","raw_affiliation_strings":["Electrical and Electronic Engineering, California State University, Sacramento, CA, USA","Electrical and Electronic Engineering, California State University, Sacramento, 95918, USA"],"affiliations":[{"raw_affiliation_string":"Electrical and Electronic Engineering, California State University, Sacramento, CA, USA","institution_ids":["https://openalex.org/I43522216"]},{"raw_affiliation_string":"Electrical and Electronic Engineering, California State University, Sacramento, 95918, USA","institution_ids":["https://openalex.org/I43522216"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5071929352"],"corresponding_institution_ids":["https://openalex.org/I43522216"],"apc_list":null,"apc_paid":null,"fwci":1.0502,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.78722088,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"413","issue":null,"first_page":"449","last_page":"454"},"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":0.9983999729156494,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9952999949455261,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7049202919006348},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7038602828979492},{"id":"https://openalex.org/keywords/flocking","display_name":"Flocking (texture)","score":0.6930438280105591},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5237688422203064},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.48923826217651367},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44683459401130676},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23683637380599976},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2034241259098053},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1561092734336853},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1316864788532257},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09419488906860352}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7049202919006348},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7038602828979492},{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.6930438280105591},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5237688422203064},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.48923826217651367},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44683459401130676},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23683637380599976},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2034241259098053},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1561092734336853},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1316864788532257},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09419488906860352},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iri.2011.6009590","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iri.2011.6009590","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Information Reuse & Integration","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":15,"referenced_works":["https://openalex.org/W1550030180","https://openalex.org/W1569609193","https://openalex.org/W1658402581","https://openalex.org/W1897494846","https://openalex.org/W2046843699","https://openalex.org/W2082829278","https://openalex.org/W2083644756","https://openalex.org/W2095877777","https://openalex.org/W2104246659","https://openalex.org/W2108529978","https://openalex.org/W2114871659","https://openalex.org/W2138427182","https://openalex.org/W2150312211","https://openalex.org/W2153465790","https://openalex.org/W2174070521"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W1970280380"],"abstract_inverted_index":{"This":[0],"paper":[1],"deals":[2],"with":[3,28,60,73],"the":[4,58,85,118,130,147],"problem":[5],"of":[6,15,44,69,105,114],"modeling":[7,119],"and":[8,12,34,49,65,120,129,138,149],"controlling":[9],"dynamic":[10,29],"formations":[11,20],"flocking":[13],"behavior":[14],"unmanned":[16],"air":[17],"vehicles.":[18],"Dynamic":[19],"are":[21,37,63,78,97,143],"modeled":[22],"using":[23],"3D":[24],"kinematic":[25],"models":[26],"combined":[27],"graph":[30],"structures.":[31],"The":[32,52,141],"leader-follower":[33],"co-leader":[35],"interconnections":[36],"described":[38],"by":[39],"time-varying":[40],"matrices":[41],"that":[42,103],"consist":[43,68],"a":[45,100,106,112,123],"binary":[46],"connectivity":[47],"matrix":[48],"shape":[50,102],"matrices.":[51],"control":[53,121],"laws":[54,72,77],"allowing":[55],"to":[56,80,83,92],"maintain":[57],"formation":[59,110],"stable":[61],"motion":[62],"decentralized":[64],"reactive.":[66],"They":[67],"linear":[70],"navigation":[71],"deviation":[74],"terms.":[75],"These":[76],"used":[79,128],"generate":[81],"trajectories":[82],"reach":[84],"goal":[86],"and/or":[87],"switch":[88],"from":[89,99],"one":[90],"configuration":[91],"another.":[93],"All":[94],"geometric":[95],"shapes":[96],"obtained":[98],"basic":[101],"consists":[104],"triangle.":[107],"Thus":[108],"any":[109],"is":[111,127,134],"collection":[113],"triangles.":[115],"To":[116],"simplify":[117],"tasks,":[122],"cylindric":[124],"coordinate":[125],"system":[126],"three":[131],"dimensional":[132],"workspace":[133],"resolved":[135],"into":[136],"horizontal":[137,148],"vertical":[139,150],"planes.":[140],"vehicles":[142],"then":[144],"controlled":[145],"in":[146],"planes":[151],"separately.":[152]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}