{"id":"https://openalex.org/W1987807435","doi":"https://doi.org/10.1109/iros.2012.6385822","title":"A swarm aggregation algorithm based on local interaction for multi-robot systems with actuator saturations","display_name":"A swarm aggregation algorithm based on local interaction for multi-robot systems with actuator saturations","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W1987807435","doi":"https://doi.org/10.1109/iros.2012.6385822","mag":"1987807435"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385822","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385822","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5046644183","display_name":"Andrea Gasparri","orcid":"https://orcid.org/0000-0001-5765-9736"},"institutions":[{"id":"https://openalex.org/I119003972","display_name":"Roma Tre University","ror":"https://ror.org/05vf0dg29","country_code":"IT","type":"education","lineage":["https://openalex.org/I119003972"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Gasparri","raw_affiliation_strings":["Department of Computer Science and Automation, University of Roma Tre, Roma, Italy","Department of Computer Science and Automation, University of \u201cRoma Tre\u201d, Via della Vasca Navale, 79, 00146, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Automation, University of Roma Tre, Roma, Italy","institution_ids":["https://openalex.org/I119003972"]},{"raw_affiliation_string":"Department of Computer Science and Automation, University of \u201cRoma Tre\u201d, Via della Vasca Navale, 79, 00146, Italy","institution_ids":["https://openalex.org/I119003972"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085865201","display_name":"Giuseppe Oriolo","orcid":"https://orcid.org/0000-0001-6153-9278"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Oriolo","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Universit\u00e0 di Roma La Sapienza, Roma, Italy","Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Universit\u00e0 di Roma La Sapienza, via Ariosto 25, 00185, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Universit\u00e0 di Roma La Sapienza, Roma, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Universit\u00e0 di Roma La Sapienza, via Ariosto 25, 00185, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025991811","display_name":"Attilio Priolo","orcid":null},"institutions":[{"id":"https://openalex.org/I119003972","display_name":"Roma Tre University","ror":"https://ror.org/05vf0dg29","country_code":"IT","type":"education","lineage":["https://openalex.org/I119003972"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Attilio Priolo","raw_affiliation_strings":["Department of Computer Science and Automation, University of Roma Tre, Roma, Italy","Department of Computer Science and Automation, University of \u201cRoma Tre\u201d, Via della Vasca Navale, 79, 00146, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Automation, University of Roma Tre, Roma, Italy","institution_ids":["https://openalex.org/I119003972"]},{"raw_affiliation_string":"Department of Computer Science and Automation, University of \u201cRoma Tre\u201d, Via della Vasca Navale, 79, 00146, Italy","institution_ids":["https://openalex.org/I119003972"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049225259","display_name":"Giovanni Ulivi","orcid":"https://orcid.org/0000-0001-6471-3761"},"institutions":[{"id":"https://openalex.org/I119003972","display_name":"Roma Tre University","ror":"https://ror.org/05vf0dg29","country_code":"IT","type":"education","lineage":["https://openalex.org/I119003972"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giovanni Ulivi","raw_affiliation_strings":["Department of Computer Science and Automation, University of Roma Tre, Roma, Italy","Department of Computer Science and Automation, University of \u201cRoma Tre\u201d, Via della Vasca Navale, 79, 00146, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Automation, University of Roma Tre, Roma, Italy","institution_ids":["https://openalex.org/I119003972"]},{"raw_affiliation_string":"Department of Computer Science and Automation, University of \u201cRoma Tre\u201d, Via della Vasca Navale, 79, 00146, Italy","institution_ids":["https://openalex.org/I119003972"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.9045,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.90910295,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"539","last_page":"544"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":1.0,"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":0.9945999979972839,"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":0.9944000244140625,"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/visibility","display_name":"Visibility","score":0.8069771528244019},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.7808346748352051},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.749915361404419},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.7489676475524902},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6780601143836975},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6561248302459717},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6033549904823303},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5966720581054688},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5004310607910156},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.41435307264328003},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3555672764778137},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32631316781044006},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32058072090148926},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19442036747932434},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08407139778137207}],"concepts":[{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.8069771528244019},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.7808346748352051},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.749915361404419},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.7489676475524902},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6780601143836975},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6561248302459717},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6033549904823303},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5966720581054688},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5004310607910156},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.41435307264328003},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3555672764778137},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32631316781044006},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32058072090148926},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19442036747932434},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08407139778137207},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2012.6385822","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385822","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.uniroma1.it:11573/495609","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/495609","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:iris.uniroma3.it:11590/279180","is_oa":false,"landing_page_url":"http://hdl.handle.net/11590/279180","pdf_url":null,"source":{"id":"https://openalex.org/S4377196120","display_name":"Iris (Roma Tre University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I119003972","host_organization_name":"Roma Tre University","host_organization_lineage":["https://openalex.org/I119003972"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5199999809265137,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W613360614","https://openalex.org/W1964895393","https://openalex.org/W1965762077","https://openalex.org/W1968807469","https://openalex.org/W1976953317","https://openalex.org/W2005610185","https://openalex.org/W2072006547","https://openalex.org/W2092139232","https://openalex.org/W2099986006","https://openalex.org/W2100555027","https://openalex.org/W2103338765","https://openalex.org/W2105306134","https://openalex.org/W2107396783","https://openalex.org/W2111972027","https://openalex.org/W2115842933","https://openalex.org/W2123332983","https://openalex.org/W2125402595","https://openalex.org/W2132984198","https://openalex.org/W2133609233","https://openalex.org/W2133754447","https://openalex.org/W2142924305","https://openalex.org/W2144354132","https://openalex.org/W2147324680","https://openalex.org/W2150010456","https://openalex.org/W2160538829","https://openalex.org/W4238591275","https://openalex.org/W6641463562"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W1988876749","https://openalex.org/W65954170","https://openalex.org/W2518382144","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166","https://openalex.org/W2787547275","https://openalex.org/W1966857494"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,86],"swarm":[3,69],"aggregation":[4,70],"algorithm":[5],"based":[6],"on":[7,15],"local":[8],"interactions":[9,37],"in":[10],"the":[11,16,25,41,50,61,67,79,98,101],"presence":[12],"of":[13,28,52,54,60,88,100],"saturations":[14],"robot":[17],"actuators.":[18],"This":[19],"assumption":[20],"allows":[21],"to":[22,40,45,77,96],"better":[23],"model":[24],"physical":[26],"limitations":[27],"actual":[29],"mobile":[30,90],"robotic":[31],"platforms.":[32],"In":[33,82],"our":[34],"framework,":[35],"robot-to-robot":[36],"are":[38,48],"limited":[39],"visibility":[42,53],"neighborhood,":[43],"i.e.,":[44],"robots":[46,91],"that":[47],"within":[49],"range":[51],"each":[55],"other.":[56],"A":[57],"theoretical":[58,80],"analysis":[59],"convergence":[62],"properties":[63],"is":[64],"presented":[65],"for":[66],"proposed":[68,102],"algorithm.":[71],"Extensive":[72],"simulations":[73],"have":[74,92],"been":[75,93],"performed":[76],"corroborate":[78],"results.":[81],"addition,":[83],"experiments":[84],"with":[85],"team":[87],"low-cost":[89],"carried":[94],"out":[95],"show":[97],"effectiveness":[99],"approach.":[103]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2016-06-24T00:00:00"}