{"id":"https://openalex.org/W2155929731","doi":"https://doi.org/10.1109/iros.2009.5354291","title":"A discrete grid abstraction for formation control in the presence of obstacles","display_name":"A discrete grid abstraction for formation control in the presence of obstacles","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2155929731","doi":"https://doi.org/10.1109/iros.2009.5354291","mag":"2155929731"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354291","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5069206737","display_name":"Damjan Mikli\u0107","orcid":"https://orcid.org/0000-0002-0173-5573"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":true,"raw_author_name":"Damjan Miklic","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071197011","display_name":"Stjepan Bogdan","orcid":"https://orcid.org/0000-0003-2636-3216"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Stjepan Bogdan","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000245571","display_name":"Sanjin Nestic","orcid":null},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sanjin Nestic","raw_affiliation_strings":["MARHES Lab, Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"MARHES Lab, Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074464769","display_name":"Rafael Fierro","orcid":"https://orcid.org/0000-0002-5574-7246"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rafael Fierro","raw_affiliation_strings":["Electrical and Computer Engineering Department, University of New Mexico"],"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Department, University of New Mexico","institution_ids":["https://openalex.org/I169521973"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5069206737"],"corresponding_institution_ids":["https://openalex.org/I181343428"],"apc_list":null,"apc_paid":null,"fwci":1.8107,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.87211157,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"45","issue":null,"first_page":"3750","last_page":"3755"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9898999929428101,"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/T12594","display_name":"Collaboration in agile enterprises","score":0.9850999712944031,"subfield":{"id":"https://openalex.org/subfields/1405","display_name":"Management of Technology and Innovation"},"field":{"id":"https://openalex.org/fields/14","display_name":"Business, Management and Accounting"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.8383759260177612},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.7024919986724854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6940355896949768},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.6236605048179626},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6171566843986511},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5472332239151001},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.5153133869171143},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5036017298698425},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.47146207094192505},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.460682213306427},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.41798263788223267},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.41124826669692993},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.22417235374450684},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14402326941490173},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14372920989990234},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.14105850458145142},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.0729580819606781}],"concepts":[{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.8383759260177612},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.7024919986724854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6940355896949768},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.6236605048179626},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6171566843986511},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5472332239151001},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.5153133869171143},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5036017298698425},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.47146207094192505},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.460682213306427},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.41798263788223267},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.41124826669692993},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.22417235374450684},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14402326941490173},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14372920989990234},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.14105850458145142},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0729580819606781},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2009.5354291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354291","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.945.9774","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.945.9774","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.researchgate.net/profile/Damjan_Miklic/publication/224090731_A_Discrete_Grid_Abstraction_for_Formation_Control_in_the_Presence_of_Obstacles/links/0c96052533535113f9000000.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W100354579","https://openalex.org/W2045382658","https://openalex.org/W2046344033","https://openalex.org/W2101472341","https://openalex.org/W2104996836","https://openalex.org/W2105850748","https://openalex.org/W2105932936","https://openalex.org/W2107918847","https://openalex.org/W2119120935","https://openalex.org/W2121216882","https://openalex.org/W2138249013","https://openalex.org/W2139369541","https://openalex.org/W2141461755","https://openalex.org/W2151609251","https://openalex.org/W2166136386","https://openalex.org/W2416218675","https://openalex.org/W4255624975","https://openalex.org/W6604081787"],"related_works":["https://openalex.org/W1981002473","https://openalex.org/W2357657342","https://openalex.org/W2794103424","https://openalex.org/W2153432761","https://openalex.org/W2152623100","https://openalex.org/W1996530509","https://openalex.org/W2142042635","https://openalex.org/W3028317537","https://openalex.org/W2023024008","https://openalex.org/W1911254468"],"abstract_inverted_index":{"In":[0],"this":[1,73],"paper":[2,74],"we":[3,93],"present":[4],"a":[5,33,76],"formation":[6,45,50,78,103],"reconfiguration":[7],"methodology":[8],"designed":[9],"for":[10],"controlling":[11],"groups":[12],"of":[13,30,72],"autonomous":[14],"agents":[15,31],"in":[16,64],"environments":[17],"densely":[18],"populated":[19],"with":[20],"obstacles.":[21],"Our":[22],"approach":[23,97],"is":[24,75],"based":[25],"on":[26],"abstracting":[27],"the":[28,44,65,101],"group":[29],"by":[32],"discrete":[34,56,88],"rectangular":[35],"grid.":[36,46],"Agent":[37],"and":[38,107],"obstacle":[39],"positions":[40],"are":[41,53],"mapped":[42],"onto":[43],"Then,":[47],"collision":[48],"free":[49],"transition":[51],"trajectories":[52],"computed":[54],"using":[55],"event":[57,89],"scheduling":[58],"techniques":[59],"that":[60,81,95],"have":[61],"been":[62],"well-established":[63],"manufacturing":[66],"systems":[67],"domain.":[68],"The":[69],"main":[70],"contribution":[71],"unified":[77],"control":[79],"framework":[80],"explicitly":[82],"takes":[83],"obstacles":[84,106],"into":[85],"account.":[86],"Using":[87],"system":[90],"analysis":[91],"tools":[92],"show":[94],"our":[96],"guarantees":[98],"convergence":[99],"to":[100],"desired":[102],"while":[104],"avoiding":[105],"inter-agent":[108],"collisions.":[109]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}