{"id":"https://openalex.org/W1739251166","doi":"https://doi.org/10.1109/iros.2015.7353406","title":"Distributed cohesive control for robot swarms: Maintaining good connectivity in the presence of exterior forces","display_name":"Distributed cohesive control for robot swarms: Maintaining good connectivity in the presence of exterior forces","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W1739251166","doi":"https://doi.org/10.1109/iros.2015.7353406","mag":"1739251166"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353406","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5073066645","display_name":"Dominik Krupke","orcid":"https://orcid.org/0000-0003-1573-3496"},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dominik Krupke","raw_affiliation_strings":["Computer Science Department, Braunschweig, Germany","Computer Science Department, TU Braunschweig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, Braunschweig, Germany","institution_ids":[]},{"raw_affiliation_string":"Computer Science Department, TU Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005402740","display_name":"Maximilian Ernestus","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximilian Ernestus","raw_affiliation_strings":["Computer Science Department, Braunschweig, Germany","Computer Science Department, TU Braunschweig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, Braunschweig, Germany","institution_ids":[]},{"raw_affiliation_string":"Computer Science Department, TU Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047174420","display_name":"Michael Hemmer","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Hemmer","raw_affiliation_strings":["Computer Science Department, Braunschweig, Germany","Computer Science Department, TU Braunschweig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, Braunschweig, Germany","institution_ids":[]},{"raw_affiliation_string":"Computer Science Department, TU Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015542807","display_name":"S\u00e1ndor P. Fekete","orcid":"https://orcid.org/0000-0002-9062-4241"},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sandor P. Fekete","raw_affiliation_strings":["Computer Science Department, Braunschweig, Germany","Computer Science Department, TU Braunschweig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, Braunschweig, Germany","institution_ids":[]},{"raw_affiliation_string":"Computer Science Department, TU Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I94509681"],"apc_list":null,"apc_paid":null,"fwci":2.4544,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.89900776,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"413","last_page":"420"},"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":0.9986000061035156,"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":0.9926999807357788,"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/flexibility","display_name":"Flexibility (engineering)","score":0.6721854209899902},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.641753077507019},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6309202909469604},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6214520335197449},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6211096048355103},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.5977863073348999},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4886524975299835},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.46649762988090515},{"id":"https://openalex.org/keywords/euclidean-geometry","display_name":"Euclidean geometry","score":0.4520905911922455},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4441152811050415},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3688458800315857},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3401424288749695},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23082506656646729},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21903753280639648},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15588155388832092},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.07113948464393616}],"concepts":[{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6721854209899902},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.641753077507019},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6309202909469604},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6214520335197449},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6211096048355103},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.5977863073348999},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4886524975299835},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.46649762988090515},{"id":"https://openalex.org/C129782007","wikidata":"https://www.wikidata.org/wiki/Q162886","display_name":"Euclidean geometry","level":2,"score":0.4520905911922455},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4441152811050415},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3688458800315857},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3401424288749695},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23082506656646729},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21903753280639648},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15588155388832092},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.07113948464393616},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353406","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":33,"referenced_works":["https://openalex.org/W47018920","https://openalex.org/W288445655","https://openalex.org/W1493007304","https://openalex.org/W1517522505","https://openalex.org/W1531591475","https://openalex.org/W1890673840","https://openalex.org/W1963737727","https://openalex.org/W1968807469","https://openalex.org/W1974328213","https://openalex.org/W1976486181","https://openalex.org/W2051859007","https://openalex.org/W2056762216","https://openalex.org/W2060380213","https://openalex.org/W2071241748","https://openalex.org/W2105850748","https://openalex.org/W2113092661","https://openalex.org/W2127347155","https://openalex.org/W2134093398","https://openalex.org/W2150312211","https://openalex.org/W2154007976","https://openalex.org/W2164775983","https://openalex.org/W2166038957","https://openalex.org/W2166967570","https://openalex.org/W2167485994","https://openalex.org/W2171030938","https://openalex.org/W2569071700","https://openalex.org/W2951180895","https://openalex.org/W2951276827","https://openalex.org/W2979079913","https://openalex.org/W6601920581","https://openalex.org/W6610366579","https://openalex.org/W6663383994","https://openalex.org/W6682457298"],"related_works":["https://openalex.org/W2736680465","https://openalex.org/W4288714711","https://openalex.org/W3200708550","https://openalex.org/W2771637876","https://openalex.org/W4240853094","https://openalex.org/W4294093918","https://openalex.org/W2810496283","https://openalex.org/W3089879900","https://openalex.org/W4214958624","https://openalex.org/W1985727224"],"abstract_inverted_index":{"We":[0,30],"present":[1],"a":[2,10,32,41,44,56,94],"number":[3],"of":[4,13,23,34,43,70],"powerful":[5],"local":[6,35,60],"mechanisms":[7],"for":[8,93],"maintaining":[9],"dynamic":[11],"swarm":[12,75],"robots":[14],"with":[15],"limited":[16],"capabilities":[17],"and":[18,26,64,84],"information,":[19],"in":[20],"the":[21,51,71,88],"presence":[22],"external":[24],"forces":[25],"permanent":[27],"node":[28,82],"failures.":[29],"propose":[31],"set":[33],"continuous":[36,68],"algorithms":[37],"that":[38],"together":[39],"produce":[40],"generalization":[42],"Euclidean":[45],"Steiner":[46],"tree.":[47],"At":[48],"any":[49],"stage,":[50],"resulting":[52,74],"overall":[53],"shape":[54],"achieves":[55],"good":[57],"compromise":[58],"between":[59],"thickness,":[61],"global":[62],"connectivity,":[63],"flexibility":[65],"to":[66,87],"further":[67],"motion":[69],"terminals.":[72],"The":[73],"behavior":[76],"scales":[77],"well,":[78],"is":[79],"robust":[80],"against":[81],"failures,":[83],"performs":[85],"close":[86],"best":[89],"known":[90],"approximation":[91],"bound":[92],"corresponding":[95],"centralized":[96],"static":[97],"optimization":[98],"problem.":[99]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":5},{"year":2016,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}