{"id":"https://openalex.org/W2158648333","doi":"https://doi.org/10.1109/iros.2011.6094413","title":"Leader-follower formation control of nonholonomic robots with fuzzy logic based approach for obstacle avoidance","display_name":"Leader-follower formation control of nonholonomic robots with fuzzy logic based approach for obstacle avoidance","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2158648333","doi":"https://doi.org/10.1109/iros.2011.6094413","mag":"2158648333"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094413","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094413","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 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/A5082996333","display_name":"Jawhar Ghommam","orcid":"https://orcid.org/0000-0002-8289-6124"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"J. Ghommam","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033395260","display_name":"Hasan Mehrjerdi","orcid":"https://orcid.org/0000-0001-9775-8456"},"institutions":[{"id":"https://openalex.org/I157556583","display_name":"Institute of Science and Technology Austria","ror":"https://ror.org/03gnh5541","country_code":"AT","type":"education","lineage":["https://openalex.org/I157556583"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"H. Mehrjerdi","raw_affiliation_strings":["Am Campus 1, Institute of Science and Technology Austria, IST Austria, Klosterneuburg, Austria"],"affiliations":[{"raw_affiliation_string":"Am Campus 1, Institute of Science and Technology Austria, IST Austria, Klosterneuburg, Austria","institution_ids":["https://openalex.org/I157556583"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063495088","display_name":"Maarouf Saad","orcid":"https://orcid.org/0000-0003-2547-2509"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Saad","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5082996333"],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":11.6378,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.98669505,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9995999932289124,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/racket","display_name":"Racket","score":0.8680171370506287},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7166630625724792},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6562851071357727},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5467844605445862},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4839754104614258},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.47896721959114075},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.47579988837242126},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.41296151280403137},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3594875633716583},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3568289279937744},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.33024272322654724},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3246651887893677},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21820342540740967},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1802947223186493},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.1715436577796936},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08948278427124023}],"concepts":[{"id":"https://openalex.org/C2778707667","wikidata":"https://www.wikidata.org/wiki/Q1254148","display_name":"Racket","level":3,"score":0.8680171370506287},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7166630625724792},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6562851071357727},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5467844605445862},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4839754104614258},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.47896721959114075},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.47579988837242126},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.41296151280403137},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3594875633716583},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3568289279937744},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33024272322654724},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3246651887893677},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21820342540740967},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1802947223186493},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.1715436577796936},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08948278427124023},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6094413","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094413","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.44999998807907104,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1517023801","https://openalex.org/W2025057644","https://openalex.org/W2036316876","https://openalex.org/W2097346851","https://openalex.org/W2097856935","https://openalex.org/W2098692763","https://openalex.org/W2106116252","https://openalex.org/W2106129306","https://openalex.org/W2107931253","https://openalex.org/W2115990616","https://openalex.org/W2119959427","https://openalex.org/W2128585353","https://openalex.org/W2131408524","https://openalex.org/W2165413656","https://openalex.org/W4238591275","https://openalex.org/W6609457598","https://openalex.org/W6679277100"],"related_works":["https://openalex.org/W2971683044","https://openalex.org/W2500432627","https://openalex.org/W584172674","https://openalex.org/W1599896731","https://openalex.org/W2295737993","https://openalex.org/W2906946336","https://openalex.org/W2086276152","https://openalex.org/W281011826","https://openalex.org/W1997554563","https://openalex.org/W2146611987"],"abstract_inverted_index":{"Playing":[0],"table":[1,92],"tennis":[2,93],"is":[3,19,61,105],"a":[4,79],"difficult":[5],"task":[6],"for":[7,36,136],"robots,":[8],"especially":[9],"due":[10],"to":[11,25,47,66,85,99,141,156],"their":[12],"limitations":[13],"of":[14,22,33,114,125,168],"acceleration.":[15],"A":[16],"key":[17],"bottleneck":[18],"the":[20,27,34,38,50,54,68,73,97,103,107,115,119,123,126,159,166,169],"amount":[21],"time":[23],"needed":[24],"reach":[26],"desired":[28],"hitting":[29],"position":[30],"and":[31,128,139],"velocity":[32],"racket":[35,117],"returning":[37],"incoming":[39],"ball.":[40],"Here,":[41],"it":[42,57],"often":[43],"does":[44],"not":[45],"suffice":[46],"simply":[48],"extrapolate":[49],"ball's":[51,69],"trajectory":[52,70],"after":[53],"opponent":[55,104,127],"returns":[56],"but":[58],"more":[59],"information":[60],"needed.":[62],"Humans":[63],"are":[64,143],"able":[65],"predict":[67,122],"based":[71],"on":[72,111],"opponent's":[74,116],"moves":[75],"and,":[76],"thus,":[77],"have":[78],"considerable":[80],"advantage.":[81],"Hence,":[82],"we":[83],"propose":[84],"incorporate":[86],"an":[87,152],"anticipation":[88],"system":[89],"into":[90],"robot":[91,98,120,154],"players,":[94],"which":[95],"enables":[96],"react":[100,142],"earlier":[101],"while":[102],"performing":[106],"striking":[108],"movement.":[109],"Based":[110],"visual":[112],"observation":[113],"movement,":[118],"can":[121,163],"aim":[124],"adjust":[129],"its":[130],"movement":[131],"generation":[132],"accordingly.":[133],"The":[134],"policies":[135],"deciding":[137],"how":[138],"when":[140],"obtained":[144],"by":[145],"reinforcement":[146],"learning.":[147],"We":[148],"conduct":[149],"experiments":[150],"with":[151],"existing":[153],"player":[155],"show":[157],"that":[158],"learned":[160],"reaction":[161],"policy":[162],"significantly":[164],"improve":[165],"performance":[167],"overall":[170],"system.":[171]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
