{"id":"https://openalex.org/W2138929127","doi":"https://doi.org/10.1109/isorc.2003.1199240","title":"Modeling distributed autonomous robots using CHARON: formation control case study","display_name":"Modeling distributed autonomous robots using CHARON: formation control case study","publication_year":2004,"publication_date":"2004-06-22","ids":{"openalex":"https://openalex.org/W2138929127","doi":"https://doi.org/10.1109/isorc.2003.1199240","mag":"2138929127"},"language":"en","primary_location":{"id":"doi:10.1109/isorc.2003.1199240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isorc.2003.1199240","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing, 2003.","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/A5048232607","display_name":"Yang\u2010Im Hur","orcid":"https://orcid.org/0000-0002-2633-9980"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yerang Hur","raw_affiliation_strings":["SDRL, Department of CIS, University of Pennsylvania, Philadelphia, PA, USA","Dept. of CIS, Pennsylvania Univ., Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"SDRL, Department of CIS, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Dept. of CIS, Pennsylvania Univ., Philadelphia, PA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074464769","display_name":"Rafael Fierro","orcid":"https://orcid.org/0000-0002-5574-7246"},"institutions":[{"id":"https://openalex.org/I115475287","display_name":"Oklahoma State University","ror":"https://ror.org/01g9vbr38","country_code":"US","type":"education","lineage":["https://openalex.org/I115475287"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Fierro","raw_affiliation_strings":["MARHES Lab, School of ECE, Oklahoma State University, Stillwater, OK, USA","[MARHES Lab, School of ECE, Oklahoma State University, Stillwater, OK, USA]"],"affiliations":[{"raw_affiliation_string":"MARHES Lab, School of ECE, Oklahoma State University, Stillwater, OK, USA","institution_ids":["https://openalex.org/I115475287"]},{"raw_affiliation_string":"[MARHES Lab, School of ECE, Oklahoma State University, Stillwater, OK, USA]","institution_ids":["https://openalex.org/I115475287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112609263","display_name":"I. Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Insup Lee","raw_affiliation_strings":["SDRL, Department of CIS, University of Pennsylvania, Philadelphia, PA, USA","[SDRL, Department of CIS, University of Pennsylvania, Philadelphia, PA, USA]"],"affiliations":[{"raw_affiliation_string":"SDRL, Department of CIS, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"[SDRL, Department of CIS, University of Pennsylvania, Philadelphia, PA, USA]","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5048232607"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":3.5011,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.92316376,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"93","last_page":"96"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9988999962806702,"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":0.9988999962806702,"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":0.9968000054359436,"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"}},{"id":"https://openalex.org/T10772","display_name":"Distributed systems and fault tolerance","score":0.9952999949455261,"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/robot","display_name":"Robot","score":0.8248385190963745},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6928467750549316},{"id":"https://openalex.org/keywords/assertion","display_name":"Assertion","score":0.6576380729675293},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5074118971824646},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42383572459220886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.359419047832489},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3218901455402374},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16421911120414734},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.14804884791374207}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8248385190963745},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6928467750549316},{"id":"https://openalex.org/C40422974","wikidata":"https://www.wikidata.org/wiki/Q741248","display_name":"Assertion","level":2,"score":0.6576380729675293},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5074118971824646},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42383572459220886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.359419047832489},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3218901455402374},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16421911120414734},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.14804884791374207}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isorc.2003.1199240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isorc.2003.1199240","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing, 2003.","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":5,"referenced_works":["https://openalex.org/W1573344143","https://openalex.org/W2097346851","https://openalex.org/W2103128566","https://openalex.org/W2134266794","https://openalex.org/W2165413656"],"related_works":["https://openalex.org/W1498103021","https://openalex.org/W4230849338","https://openalex.org/W4295166216","https://openalex.org/W2177044681","https://openalex.org/W1968067090","https://openalex.org/W2345942070","https://openalex.org/W2141398161","https://openalex.org/W2016410697","https://openalex.org/W39611005","https://openalex.org/W653076280"],"abstract_inverted_index":{"We":[0],"present":[1],"the":[2,11,67,103,114],"modeling":[3],"and":[4,29,57,61,63,102],"analysis":[5],"of":[6,27,69,80,93,96,113],"distributed":[7,21,85],"autonomous":[8,22,86],"robots":[9,23,40,97],"using":[10,100,107],"specification":[12],"language":[13],"for":[14,38],"hybrid":[15,30],"systems,":[16,31],"called":[17],"CHARON.":[18],"Coordination":[19],"between":[20],"has":[24,34],"attracted":[25],"researchers":[26],"embedded":[28],"since":[32],"there":[33],"been":[35],"increasing":[36],"demand":[37],"multiple":[39],"working":[41],"together":[42],"in":[43,83],"a":[44,74,94],"dynamically":[45],"changing":[46],"or":[47],"unknown":[48],"environment":[49],"to":[50],"carry":[51],"out":[52],"missions":[53],"such":[54],"as":[55,73],"search":[56],"rescue,":[58],"cooperative":[59],"localization,":[60],"scouting":[62],"reconnaissance.":[64],"To":[65],"maximize":[66],"capability":[68,112],"performing":[70],"tasks":[71],"collaboratively":[72],"team,":[75],"formation":[76,91],"control":[77,92],"is":[78,98,105],"one":[79],"crucial":[81],"parts":[82],"developing":[84],"robots.":[87],"In":[88],"this":[89],"paper":[90],"team":[95],"modeled":[99],"CHARON":[101,115],"model":[104],"analyzed":[106],"simulation":[108],"with":[109],"assertion":[110],"checking":[111],"toolset.":[116]},"counts_by_year":[{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}