{"id":"https://openalex.org/W2774174097","doi":"https://doi.org/10.1109/iros.2017.8206299","title":"Decentralized stochastic control of robotic swarm density: Theory, simulation, and experiment","display_name":"Decentralized stochastic control of robotic swarm density: Theory, simulation, and experiment","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2774174097","doi":"https://doi.org/10.1109/iros.2017.8206299","mag":"2774174097"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206299","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206299","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5071554167","display_name":"Hanjun Li","orcid":"https://orcid.org/0000-0002-7017-8782"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Hanjun Li","raw_affiliation_strings":["Department of Mathematics, UCLA, Los Angeles, CA"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics, UCLA, Los Angeles, CA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003756556","display_name":"Chunhan Feng","orcid":"https://orcid.org/0000-0002-8794-7605"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunhan Feng","raw_affiliation_strings":["Nankai Univerity, School of Physics, Tianjir, China"],"affiliations":[{"raw_affiliation_string":"Nankai Univerity, School of Physics, Tianjir, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018181873","display_name":"Henry Ehrhard","orcid":"https://orcid.org/0000-0001-7701-2227"},"institutions":[{"id":"https://openalex.org/I173288447","display_name":"Grinnell College","ror":"https://ror.org/04tmmky42","country_code":"US","type":"education","lineage":["https://openalex.org/I173288447"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Henry Ehrhard","raw_affiliation_strings":["Grinnell College, Mathematics and Statistics, Grinnell, IA"],"affiliations":[{"raw_affiliation_string":"Grinnell College, Mathematics and Statistics, Grinnell, IA","institution_ids":["https://openalex.org/I173288447"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063059217","display_name":"Yijun Shen","orcid":"https://orcid.org/0000-0002-1281-3637"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yijun Shen","raw_affiliation_strings":["Department of Mathematics, UCLA, Los Angeles, CA"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics, UCLA, Los Angeles, CA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052687543","display_name":"Bernardo Cobos","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bernardo Cobos","raw_affiliation_strings":["Department of Mathematics, UCLA, Los Angeles, CA"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics, UCLA, Los Angeles, CA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103106236","display_name":"Fangbo Zhang","orcid":"https://orcid.org/0000-0002-6233-1003"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fangbo Zhang","raw_affiliation_strings":["Department of Mathematics, UCLA, Los Angeles, CA"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics, UCLA, Los Angeles, CA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034305084","display_name":"Karthik Elamvazhuthi","orcid":"https://orcid.org/0000-0003-0849-5178"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Karthik Elamvazhuthi","raw_affiliation_strings":["Arizona State University, School for Engineering of Matter, Transport, and Energy, Tempe, AZ"],"affiliations":[{"raw_affiliation_string":"Arizona State University, School for Engineering of Matter, Transport, and Energy, Tempe, AZ","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076142872","display_name":"Spring Berman","orcid":"https://orcid.org/0000-0001-9239-0509"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Spring Berman","raw_affiliation_strings":["Arizona State University, School for Engineering of Matter, Transport, and Energy, Tempe, AZ"],"affiliations":[{"raw_affiliation_string":"Arizona State University, School for Engineering of Matter, Transport, and Energy, Tempe, AZ","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047018985","display_name":"Matt Haberland","orcid":"https://orcid.org/0000-0003-4806-3601"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Matt Haberland","raw_affiliation_strings":["Department of Mathematics, UCLA, Los Angeles, CA"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics, UCLA, Los Angeles, CA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090707978","display_name":"Andrea L. Bertozzi","orcid":"https://orcid.org/0000-0003-0396-7391"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Andrea L. Bertozzi","raw_affiliation_strings":["Department of Mathematics, UCLA, Los Angeles, CA"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics, UCLA, Los Angeles, CA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5071554167"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.7296,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.94245784,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4341","last_page":"4347"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9993000030517578,"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":0.9993000030517578,"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/T10482","display_name":"Mathematical and Theoretical Epidemiology and Ecology Models","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T13187","display_name":"Diffusion and Search Dynamics","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.7882220149040222},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7603467702865601},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.6977024674415588},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.526132345199585},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4900003969669342},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4724077582359314},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.46845316886901855},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.4572635889053345},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.454971581697464},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4139624834060669},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2912006974220276},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25848060846328735},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22494935989379883}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.7882220149040222},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7603467702865601},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.6977024674415588},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.526132345199585},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4900003969669342},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4724077582359314},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.46845316886901855},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.4572635889053345},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.454971581697464},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4139624834060669},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2912006974220276},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25848060846328735},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22494935989379883},{"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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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":1,"locations":[{"id":"doi:10.1109/iros.2017.8206299","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206299","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1655172732","https://openalex.org/W1970030120","https://openalex.org/W1972306226","https://openalex.org/W2023510972","https://openalex.org/W2035155402","https://openalex.org/W2170267824","https://openalex.org/W2323824333","https://openalex.org/W2394925491","https://openalex.org/W2963093625","https://openalex.org/W3213458668","https://openalex.org/W4238209390"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W65954170","https://openalex.org/W1988876749","https://openalex.org/W2518382144","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166","https://openalex.org/W2787547275","https://openalex.org/W1600534566"],"abstract_inverted_index":{"This":[0,157],"paper":[1],"explores":[2],"a":[3,13,17,40,46,67,76,85],"stochastic":[4],"approach":[5],"for":[6],"controlling":[7],"swarms":[8],"of":[9,45,95,152,155],"independent":[10],"robots":[11,29],"toward":[12,80],"target":[14,82,117,143],"distribution":[15,118,144],"in":[16,119],"bounded":[18],"domain.":[19],"The":[20],"robot":[21,65],"swarm":[22,58,74,110],"has":[23],"no":[24],"central":[25],"controller,":[26],"and":[27,33,51,122,127,134,166],"individual":[28],"lack":[30],"both":[31,120,164],"communication":[32],"localization":[34],"capabilities.":[35],"Robots":[36],"can":[37],"only":[38],"measure":[39],"scalar":[41],"field":[42],"(e.g.":[43],"concentration":[44],"chemical)":[47],"from":[48,52,104,141],"the":[49,55,73,81,92,107,109,112,116,139,142,149,153,161],"environment":[50],"this":[53,62,96],"deduce":[54],"desired":[56],"local":[57],"density.":[59],"Based":[60],"on":[61],"value,":[63],"each":[64],"follows":[66],"simple":[68],"control":[69,97],"law":[70,98],"that":[71,138,160],"causes":[72],"as":[75],"whole":[77],"to":[78,115,148,169],"diffuse":[79],"distribution.":[83],"Using":[84],"new":[86],"holonomic":[87],"drive":[88],"robot,":[89],"we":[90],"present":[91],"first":[93],"confirmation":[94],"with":[99,131,135],"physical":[100],"experiment.":[101,123],"Despite":[102],"deviations":[103],"assumptions":[105],"underpinning":[106],"theory,":[108],"achieves":[111],"theorized":[113],"convergence":[114],"simulation":[121],"In":[124],"fact,":[125],"simulated":[126],"experimental":[128],"performance":[129],"agree":[130],"one":[132],"another":[133],"our":[136],"hypothesis":[137],"error":[140],"is":[145,158,163],"inversely":[146],"proportional":[147],"square":[150],"root":[151],"number":[154],"robots.":[156],"evidence":[159],"algorithm":[162],"practical":[165],"easily":[167],"scalable":[168],"large":[170],"swarms.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}