{"id":"https://openalex.org/W3132014978","doi":"https://doi.org/10.1109/iros45743.2020.9341466","title":"Automatic Control Synthesis for Swarm Robots from Formation and Location-based High-level Specifications","display_name":"Automatic Control Synthesis for Swarm Robots from Formation and Location-based High-level Specifications","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3132014978","doi":"https://doi.org/10.1109/iros45743.2020.9341466","mag":"3132014978"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341466","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5079169646","display_name":"Ji Chen","orcid":"https://orcid.org/0000-0001-5208-2050"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ji Chen","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100637385","display_name":"Hanlin Wang","orcid":"https://orcid.org/0000-0002-5416-9392"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hanlin Wang","raw_affiliation_strings":["Department of Computer Science, Northwestern University, Evanston, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038198209","display_name":"Michael Rubenstein","orcid":"https://orcid.org/0000-0002-1289-4211"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Rubenstein","raw_affiliation_strings":["Department of Computer Science, Northwestern University, Evanston, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020074157","display_name":"Hadas Kress\u2010Gazit","orcid":"https://orcid.org/0000-0002-7754-1011"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hadas Kress-Gazit","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"27","issue":null,"first_page":"8027","last_page":"8034"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998000264167786,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/abstraction","display_name":"Abstraction","score":0.7652697563171387},{"id":"https://openalex.org/keywords/generality","display_name":"Generality","score":0.7565733194351196},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7350326776504517},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7270958423614502},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6459565758705139},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6350991129875183},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5451589822769165},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.5166687965393066},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.49286389350891113},{"id":"https://openalex.org/keywords/linear-temporal-logic","display_name":"Linear temporal logic","score":0.45951998233795166},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.41279366612434387},{"id":"https://openalex.org/keywords/cyber-physical-system","display_name":"Cyber-physical system","score":0.41121408343315125},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.37204164266586304},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28623121976852417},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17347407341003418}],"concepts":[{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.7652697563171387},{"id":"https://openalex.org/C2780767217","wikidata":"https://www.wikidata.org/wiki/Q5532421","display_name":"Generality","level":2,"score":0.7565733194351196},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7350326776504517},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7270958423614502},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6459565758705139},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6350991129875183},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5451589822769165},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.5166687965393066},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.49286389350891113},{"id":"https://openalex.org/C4777664","wikidata":"https://www.wikidata.org/wiki/Q1536492","display_name":"Linear temporal logic","level":2,"score":0.45951998233795166},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.41279366612434387},{"id":"https://openalex.org/C179768478","wikidata":"https://www.wikidata.org/wiki/Q1120057","display_name":"Cyber-physical system","level":2,"score":0.41121408343315125},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.37204164266586304},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28623121976852417},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17347407341003418},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341466","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1592570595","https://openalex.org/W1612453857","https://openalex.org/W1970786657","https://openalex.org/W1981826826","https://openalex.org/W2006625750","https://openalex.org/W2014192044","https://openalex.org/W2018284512","https://openalex.org/W2021422577","https://openalex.org/W2041701185","https://openalex.org/W2054381558","https://openalex.org/W2103658959","https://openalex.org/W2108261524","https://openalex.org/W2108526989","https://openalex.org/W2165413656","https://openalex.org/W2322076341","https://openalex.org/W2396555304","https://openalex.org/W2476245236","https://openalex.org/W2515724774","https://openalex.org/W2562209965","https://openalex.org/W2566753361","https://openalex.org/W2588802774","https://openalex.org/W2608775622","https://openalex.org/W2609260874","https://openalex.org/W2615547864","https://openalex.org/W2783378806","https://openalex.org/W2804655496","https://openalex.org/W2808298241","https://openalex.org/W2890511739","https://openalex.org/W2945062758","https://openalex.org/W2956608979","https://openalex.org/W2957527897","https://openalex.org/W2963352580","https://openalex.org/W2967309989","https://openalex.org/W2968945909","https://openalex.org/W2972474699","https://openalex.org/W3000667810","https://openalex.org/W3012331565","https://openalex.org/W3098016199","https://openalex.org/W3109873636","https://openalex.org/W6737769214","https://openalex.org/W6752117252","https://openalex.org/W6762808522","https://openalex.org/W6765551837","https://openalex.org/W6767636892"],"related_works":["https://openalex.org/W2045049461","https://openalex.org/W1978893398","https://openalex.org/W2201908702","https://openalex.org/W4381094582","https://openalex.org/W1992503747","https://openalex.org/W2369625323","https://openalex.org/W2364579609","https://openalex.org/W1977906818","https://openalex.org/W1522139108","https://openalex.org/W2353528968"],"abstract_inverted_index":{"In":[0,84],"this":[1],"paper,":[2],"we":[3,63,90],"propose":[4],"an":[5,16],"abstraction":[6,26],"that":[7,76],"captures":[8],"high-level":[9,54],"formation":[10],"and":[11,15,33,70,72,126,147,151,166],"location-based":[12],"swarm":[13],"behaviors,":[14],"automated":[17],"control":[18],"synthesis":[19],"framework":[20,103,141],"to":[21,42,52,79,93,96,114],"generate":[22],"correct-by-construction":[23,135],"behaviors.":[24],"Our":[25,102],"includes":[27],"symbols":[28,51],"representing":[29],"both":[30],"possible":[31],"formations":[32],"physical":[34,154,173],"locations":[35,125],"in":[36,133,142],"the":[37,50,57,81,98,139,161,164,168],"workspace.":[38],"We":[39,137],"allow":[40],"users":[41],"write":[43],"linear":[44],"temporal":[45],"logic":[46],"(LTL)":[47],"specifications":[48],"over":[49],"specify":[53],"tasks":[55,117],"for":[56],"swarm.":[58],"To":[59],"satisfy":[60],"a":[61,66,108,134,153],"specification,":[62],"automatically":[64],"synthesize":[65],"centralized":[67],"symbolic":[68,82,100],"plan,":[69],"environment":[71],"swarm-size-dependent":[73],"motion":[74],"controllers":[75],"are":[77],"guaranteed":[78],"implement":[80],"transitions.":[83],"addition,":[85],"using":[86],"integer":[87],"programming":[88],"(IP),":[89],"assign":[91],"robots":[92,113,132],"different":[94,124,129],"sub-swarms":[95],"execute":[97],"synthesized":[99],"plan.":[101],"gives":[104],"insights":[105],"into":[106],"controlling":[107,171],"large":[109],"fleet":[110],"of":[111,121,131,163,170],"autonomous":[112],"achieve":[115],"complex":[116],"which":[118],"require":[119],"composition":[120],"behaviors":[122],"at":[123],"coordination":[127],"among":[128],"groups":[130],"way.":[136],"demonstrate":[138],"proposed":[140],"simulation":[143],"with":[144,156],"16":[145],"UAVs":[146],"8":[148],"ground":[149,158],"vehicles,":[150],"on":[152],"platform":[155],"20":[157],"robots,":[159],"showcasing":[160],"generality":[162],"approach":[165],"discussing":[167],"implications":[169],"constrained":[172],"hardware.":[174]},"counts_by_year":[{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
