{"id":"https://openalex.org/W4403279695","doi":"https://doi.org/10.1109/is61756.2024.10705259","title":"RRT*-Based Leader-Follower Trajectory Planning and Tracking in Multi-Agent Systems","display_name":"RRT*-Based Leader-Follower Trajectory Planning and Tracking in Multi-Agent Systems","publication_year":2024,"publication_date":"2024-08-29","ids":{"openalex":"https://openalex.org/W4403279695","doi":"https://doi.org/10.1109/is61756.2024.10705259"},"language":"en","primary_location":{"id":"doi:10.1109/is61756.2024.10705259","is_oa":false,"landing_page_url":"https://doi.org/10.1109/is61756.2024.10705259","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 12th International Conference on Intelligent Systems (IS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://durham-repository.worktribe.com/preview/2752862/2745359AAM.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108184549","display_name":"Catalina Agachi","orcid":null},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Catalina Agachi","raw_affiliation_strings":["University College,Department of Computer Science,London,UK"],"affiliations":[{"raw_affiliation_string":"University College,Department of Computer Science,London,UK","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005614248","display_name":"Farshad Arvin","orcid":"https://orcid.org/0000-0001-7950-3193"},"institutions":[{"id":"https://openalex.org/I190082696","display_name":"Durham University","ror":"https://ror.org/01v29qb04","country_code":"GB","type":"education","lineage":["https://openalex.org/I190082696"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Farshad Arvin","raw_affiliation_strings":["Durham University,Department of Computer Science,UK"],"affiliations":[{"raw_affiliation_string":"Durham University,Department of Computer Science,UK","institution_ids":["https://openalex.org/I190082696"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073851395","display_name":"Junyan Hu","orcid":"https://orcid.org/0000-0001-7409-3885"},"institutions":[{"id":"https://openalex.org/I190082696","display_name":"Durham University","ror":"https://ror.org/01v29qb04","country_code":"GB","type":"education","lineage":["https://openalex.org/I190082696"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Junyan Hu","raw_affiliation_strings":["Durham University,Department of Computer Science,UK"],"affiliations":[{"raw_affiliation_string":"Durham University,Department of Computer Science,UK","institution_ids":["https://openalex.org/I190082696"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5108184549"],"corresponding_institution_ids":["https://openalex.org/I45129253"],"apc_list":null,"apc_paid":null,"fwci":0.3223,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.58748863,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10917","display_name":"Smart Grid Security and Resilience","score":0.9851999878883362,"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/T10917","display_name":"Smart Grid Security and Resilience","score":0.9851999878883362,"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/T12203","display_name":"Mobile Agent-Based Network Management","score":0.9793000221252441,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9732999801635742,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7757560014724731},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6255830526351929},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6228548288345337},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.5186461806297302},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43168315291404724},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39547795057296753},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3464447855949402},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3253903388977051},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17064684629440308},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.10918837785720825}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7757560014724731},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6255830526351929},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6228548288345337},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.5186461806297302},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43168315291404724},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39547795057296753},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3464447855949402},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3253903388977051},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17064684629440308},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.10918837785720825},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/is61756.2024.10705259","is_oa":false,"landing_page_url":"https://doi.org/10.1109/is61756.2024.10705259","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 12th International Conference on Intelligent Systems (IS)","raw_type":"proceedings-article"},{"id":"pmh:oai:durham-repository.worktribe.com:2745359","is_oa":true,"landing_page_url":"https://durham-repository.worktribe.com/output/2745359","pdf_url":"https://durham-repository.worktribe.com/preview/2752862/2745359AAM.pdf","source":{"id":"https://openalex.org/S4306400188","display_name":"Durham Research Online (Durham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I190082696","host_organization_name":"Durham University","host_organization_lineage":["https://openalex.org/I190082696"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"acceptedVersion"}],"best_oa_location":{"id":"pmh:oai:durham-repository.worktribe.com:2745359","is_oa":true,"landing_page_url":"https://durham-repository.worktribe.com/output/2745359","pdf_url":"https://durham-repository.worktribe.com/preview/2752862/2745359AAM.pdf","source":{"id":"https://openalex.org/S4306400188","display_name":"Durham Research Online (Durham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I190082696","host_organization_name":"Durham University","host_organization_lineage":["https://openalex.org/I190082696"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"acceptedVersion"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G368362065","display_name":null,"funder_award_id":"964492","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403279695.pdf","grobid_xml":"https://content.openalex.org/works/W4403279695.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W1971086298","https://openalex.org/W1975318518","https://openalex.org/W2071401582","https://openalex.org/W2107396783","https://openalex.org/W2112271657","https://openalex.org/W2128928412","https://openalex.org/W2165744313","https://openalex.org/W2478654971","https://openalex.org/W2744690404","https://openalex.org/W2809772939","https://openalex.org/W3196193032","https://openalex.org/W4221003375","https://openalex.org/W4293199059","https://openalex.org/W4312907240","https://openalex.org/W4313166904","https://openalex.org/W4366146329","https://openalex.org/W4387717660","https://openalex.org/W4392114333","https://openalex.org/W4399373574","https://openalex.org/W6605295560"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"Coordination":[0],"of":[1,51,54,144],"multi-agent":[2,40],"systems":[3,41],"has":[4],"received":[5],"significant":[6],"attention":[7],"during":[8],"the":[9,61,66,69,73,85,106,115,142,145],"past":[10],"few":[11],"years":[12],"owing":[13],"to":[14,42,77],"its":[15],"wide":[16],"real-world":[17],"applications,":[18],"such":[19],"as":[20,111],"cooperative":[21],"exploration,":[22],"aircraft":[23],"formation,":[24],"and":[25,72,91,122,136,139],"autonomous":[26],"vehicle":[27],"platooning.":[28],"To":[29,82],"address":[30],"this":[31,33],"issue,":[32],"research":[34],"presents":[35],"a":[36,52,57,79,89,97,112],"novel":[37],"method":[38],"for":[39,114],"navigate":[43],"through":[44],"environments":[45],"with":[46,56],"obstacles.":[47,140],"The":[48,100],"system":[49],"consists":[50],"group":[53],"agents":[55,67,86,135,138],"leader-follower":[58],"structure,":[59],"where":[60],"leader":[62],"aids":[63],"in":[64],"guiding":[65],"toward":[68],"target":[70],"location":[71],"followers":[74],"are":[75],"steered":[76],"maintain":[78],"flexible":[80],"formation.":[81],"achieve":[83],"cooperation,":[84],"communicate":[87],"within":[88,96],"connected":[90],"undirected":[92],"network,":[93],"exchanging":[94],"information":[95],"specific":[98],"radius.":[99],"leader's":[101],"path":[102],"is":[103,124,150],"generated":[104],"using":[105],"RRT*":[107],"algorithm,":[108],"which":[109],"serves":[110],"reference":[113],"followers.":[116],"A":[117],"control":[118],"law":[119],"utilizes":[120],"consensus":[121],"APF":[123],"then":[125],"implemented,":[126],"ensuring":[127],"coordinated":[128],"motion":[129],"while":[130],"maintaining":[131],"safe":[132],"distances":[133],"among":[134],"between":[137],"Finally,":[141],"effectiveness":[143],"developed":[146],"two-layer":[147],"coordination":[148],"strategy":[149],"verified":[151],"by":[152],"simulations.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}