{"id":"https://openalex.org/W2098515343","doi":"https://doi.org/10.1109/iros.2003.1249287","title":"Formation control with configuration space constraints","display_name":"Formation control with configuration space constraints","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W2098515343","doi":"https://doi.org/10.1109/iros.2003.1249287","mag":"2098515343"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1249287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249287","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://repository.upenn.edu/bitstreams/69897f06-2c6f-4356-af3f-6ceecd90c6fa/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082883292","display_name":"Guilherme A. S. Pereira","orcid":"https://orcid.org/0000-0003-0739-9934"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"G.A.S. Pereira","raw_affiliation_strings":["VERLaboratory, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"VERLaboratory, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101759453","display_name":"Arindam Das","orcid":"https://orcid.org/0000-0001-9564-691X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A.K. Das","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087021192","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3902-9391"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"V. Kumar","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015111328","display_name":"M\u00e1rio F. M. Campos","orcid":"https://orcid.org/0000-0002-8336-9190"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"M.F.M. Campos","raw_affiliation_strings":["VERLaboratory, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"VERLaboratory, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8041,"has_fulltext":true,"cited_by_count":31,"citation_normalized_percentile":{"value":0.73311479,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"3","issue":null,"first_page":"2755","last_page":"2760"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9991000294685364,"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":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5447883605957031},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5316216349601746},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4474032521247864},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13314935564994812},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.08921679854393005}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5447883605957031},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5316216349601746},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4474032521247864},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13314935564994812},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.08921679854393005}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros.2003.1249287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249287","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.upenn.edu:meam_papers-1039","is_oa":true,"landing_page_url":"https://repository.upenn.edu/meam_papers/40","pdf_url":"https://repository.upenn.edu/bitstreams/69897f06-2c6f-4356-af3f-6ceecd90c6fa/download","source":{"id":"https://openalex.org/S4377196331","display_name":"Scholarly Commons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (MEAM)","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.344.236","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.344.236","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.9.5623","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.9.5623","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.verlab.dcc.ufmg.br/projetos/gpereira/iros2003.pdf","raw_type":"text"},{"id":"pmh:oai:repository.upenn.edu:20.500.14332/40043","is_oa":false,"landing_page_url":"https://repository.upenn.edu/handle/20.500.14332/40043","pdf_url":null,"source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"published","raw_type":"Presentation"}],"best_oa_location":{"id":"pmh:oai:repository.upenn.edu:meam_papers-1039","is_oa":true,"landing_page_url":"https://repository.upenn.edu/meam_papers/40","pdf_url":"https://repository.upenn.edu/bitstreams/69897f06-2c6f-4356-af3f-6ceecd90c6fa/download","source":{"id":"https://openalex.org/S4377196331","display_name":"Scholarly Commons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (MEAM)","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2098515343.pdf","grobid_xml":"https://content.openalex.org/works/W2098515343.grobid-xml"},"referenced_works_count":18,"referenced_works":["https://openalex.org/W152152638","https://openalex.org/W2046178935","https://openalex.org/W2097346851","https://openalex.org/W2099397914","https://openalex.org/W2103120971","https://openalex.org/W2105744927","https://openalex.org/W2110144538","https://openalex.org/W2119120935","https://openalex.org/W2124438686","https://openalex.org/W2125085723","https://openalex.org/W2130647945","https://openalex.org/W2131766552","https://openalex.org/W2163431256","https://openalex.org/W2165413656","https://openalex.org/W4243808798","https://openalex.org/W6606208309","https://openalex.org/W6661798625","https://openalex.org/W6678556551"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2350741829","https://openalex.org/W2530322880","https://openalex.org/W1596801655","https://openalex.org/W2359140296"],"abstract_inverted_index":{"We":[0,16,44,123],"address":[1],"the":[2,18,34,39,57,106,121],"problem":[3],"of":[4,8,21,28,38,59,88,109,130],"controlling":[5],"a":[6,26,60,128],"team":[7,40,129],"robots":[9,73,119,133],"subject":[10],"to":[11,32,48,112],"constraints":[12,80,115],"on":[13,86,98],"relative":[14],"positions.":[15],"adopt":[17],"general":[19],"framework":[20],"leader-follower":[22],"control":[23,33],"in":[24,120],"which":[25],"network":[27,92,140],"controllers":[29,101,111],"is":[30,62,96],"used":[31],"position":[35],"and":[36,41,90,105,138],"orientation":[37],"its":[42,67],"shape.":[43],"propose":[45],"two":[46],"improvements":[47],"this":[49],"scheme.":[50],"First,":[51],"we":[52,78],"introduce":[53],"cooperative":[54],"leader-following":[55],"where":[56],"motion":[58,114],"robot":[61,104],"determined":[63],"not":[64],"only":[65],"by":[66,71,84,117],"leader,":[68],"but":[69],"also":[70],"other":[72,118],"including":[74],"their":[75],"followers.":[76],"Second,":[77],"allow":[79],"that":[81],"are":[82],"induced":[83,116],"limitations":[85],"ranges":[87],"sensors":[89],"wireless":[91],"cards.":[93,141],"Our":[94],"approach":[95],"based":[97],"potential":[99],"field":[100],"for":[102],"each":[103],"on-line":[107],"modification":[108],"these":[110],"accommodate":[113],"group.":[122],"present":[124],"experimental":[125],"results":[126],"with":[127,135],"three":[131],"car-like":[132],"equipped":[134],"omnidirectional":[136],"cameras":[137],"802.11b":[139]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
