{"id":"https://openalex.org/W3199022428","doi":"https://doi.org/10.1109/jas.2021.1004263","title":"A Scalable Adaptive Approach to Multi-Vehicle Formation Control with Obstacle Avoidance","display_name":"A Scalable Adaptive Approach to Multi-Vehicle Formation Control with Obstacle Avoidance","publication_year":2021,"publication_date":"2021-09-13","ids":{"openalex":"https://openalex.org/W3199022428","doi":"https://doi.org/10.1109/jas.2021.1004263","mag":"3199022428"},"language":"en","primary_location":{"id":"doi:10.1109/jas.2021.1004263","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2021.1004263","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-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/A5102758870","display_name":"Xiaohua Ge","orcid":"https://orcid.org/0000-0003-0180-0897"},"institutions":[{"id":"https://openalex.org/I57093077","display_name":"Swinburne University of Technology","ror":"https://ror.org/031rekg67","country_code":"AU","type":"education","lineage":["https://openalex.org/I57093077"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Xiaohua Ge","raw_affiliation_strings":["School of Science, Computing and Engineering Technologies, Swinburne University of Technology,Melbourne,VIC,Australia,3122"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Science, Computing and Engineering Technologies, Swinburne University of Technology,Melbourne,VIC,Australia,3122","institution_ids":["https://openalex.org/I57093077"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083874423","display_name":"Qing\u2010Long Han","orcid":"https://orcid.org/0000-0002-7207-0716"},"institutions":[{"id":"https://openalex.org/I57093077","display_name":"Swinburne University of Technology","ror":"https://ror.org/031rekg67","country_code":"AU","type":"education","lineage":["https://openalex.org/I57093077"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Qing-Long Han","raw_affiliation_strings":["School of Science, Computing and Engineering Technologies, Swinburne University of Technology,Melbourne,VIC,Australia,3122"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Science, Computing and Engineering Technologies, Swinburne University of Technology,Melbourne,VIC,Australia,3122","institution_ids":["https://openalex.org/I57093077"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100384686","display_name":"Jun Wang","orcid":"https://orcid.org/0000-0002-1305-5735"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jun Wang","raw_affiliation_strings":["School of Data Science, City University of Hong Kong,Department of Computer Science,China","Department of Computer Science, School of Data Science, City University of Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Data Science, City University of Hong Kong,Department of Computer Science,China","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Department of Computer Science, School of Data Science, City University of Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002870404","display_name":"Xian\u2010Ming Zhang","orcid":"https://orcid.org/0000-0003-0691-5386"},"institutions":[{"id":"https://openalex.org/I57093077","display_name":"Swinburne University of Technology","ror":"https://ror.org/031rekg67","country_code":"AU","type":"education","lineage":["https://openalex.org/I57093077"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Xian-Ming Zhang","raw_affiliation_strings":["School of Science, Computing and Engineering Technologies, Swinburne University of Technology,Melbourne,VIC,Australia,3122"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Science, Computing and Engineering Technologies, Swinburne University of Technology,Melbourne,VIC,Australia,3122","institution_ids":["https://openalex.org/I57093077"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.5317,"has_fulltext":false,"cited_by_count":91,"citation_normalized_percentile":{"value":0.97563193,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"9","issue":"6","first_page":"990","last_page":"1004"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9976999759674072,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9846000075340271,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7577672004699707},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7461705803871155},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7125869989395142},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6777015328407288},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6234812140464783},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6078222990036011},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5399525165557861},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4824872314929962},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.4792935252189636},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.45219314098358154},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.39807987213134766},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.38223421573638916},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3567681312561035},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34766578674316406},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23418131470680237},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18403300642967224},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1828283667564392},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14503055810928345},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12918072938919067}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7577672004699707},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7461705803871155},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7125869989395142},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6777015328407288},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6234812140464783},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6078222990036011},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5399525165557861},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4824872314929962},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.4792935252189636},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.45219314098358154},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.39807987213134766},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.38223421573638916},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3567681312561035},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34766578674316406},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23418131470680237},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18403300642967224},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1828283667564392},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14503055810928345},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12918072938919067},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jas.2021.1004263","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2021.1004263","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1517236425","https://openalex.org/W1563826663","https://openalex.org/W1981826826","https://openalex.org/W1988098565","https://openalex.org/W1995286048","https://openalex.org/W2000806524","https://openalex.org/W2004599787","https://openalex.org/W2012812921","https://openalex.org/W2028235243","https://openalex.org/W2048848526","https://openalex.org/W2063140052","https://openalex.org/W2080817687","https://openalex.org/W2095877777","https://openalex.org/W2190271618","https://openalex.org/W2248946215","https://openalex.org/W2474795882","https://openalex.org/W2588802774","https://openalex.org/W2611346233","https://openalex.org/W2733753647","https://openalex.org/W2754300070","https://openalex.org/W2780149228","https://openalex.org/W2787958879","https://openalex.org/W2897001116","https://openalex.org/W2925818175","https://openalex.org/W2940830480","https://openalex.org/W2964339512","https://openalex.org/W2972177120","https://openalex.org/W2972371309","https://openalex.org/W2981729160","https://openalex.org/W3000256825","https://openalex.org/W3008127698","https://openalex.org/W3010996182","https://openalex.org/W3014792551","https://openalex.org/W3022271033","https://openalex.org/W3034625574","https://openalex.org/W3037669777","https://openalex.org/W3039518800","https://openalex.org/W3039654581","https://openalex.org/W3043661245","https://openalex.org/W3045264779","https://openalex.org/W3045516846","https://openalex.org/W3083824892","https://openalex.org/W3113080887","https://openalex.org/W3118402763","https://openalex.org/W3164586898","https://openalex.org/W3165032542","https://openalex.org/W3187593522"],"related_works":["https://openalex.org/W2296012813","https://openalex.org/W2527775117","https://openalex.org/W4293254398","https://openalex.org/W4289177603","https://openalex.org/W4320057107","https://openalex.org/W2894064231","https://openalex.org/W2602324145","https://openalex.org/W2015887063","https://openalex.org/W2920915658","https://openalex.org/W4282925321"],"abstract_inverted_index":{"This":[0],"paper":[1],"deals":[2],"with":[3,31,75,129,141],"the":[4,70,87,103,142,145,167,170,176],"problem":[5],"of":[6,14,27,39,86,106,175],"distributed":[7,123],"formation":[8,66,79,125,147,180],"tracking":[9,67,126,148],"control":[10,34,68,127,181],"and":[11,36,54,64,72,112,154,169],"obstacle":[12,118,132,155],"avoidance":[13,133,157,173],"multi-vehicle":[15],"systems":[16],"(MVSs)":[17],"in":[18,78,109],"complex":[19],"obstacle-laden":[20],"environments.":[21],"The":[22,57],"MVS":[23,74],"under":[24],"consideration":[25],"consists":[26],"a":[28,37,44,93,121,130],"leader":[29],"vehicle":[30,107,111],"an":[32],"unknown":[33,51,104],"input":[35],"group":[38],"follower":[40],"vehicles,":[41],"connected":[42],"via":[43],"directed":[45],"interaction":[46,88],"topology,":[47],"subject":[48],"to":[49,61,101,165],"simultaneous":[50],"heterogeneous":[52],"nonlinearities":[53],"external":[55],"disturbances.":[56],"central":[58],"aim":[59],"is":[60,99,135,138,158],"achieve":[62],"effective":[63],"collision-free":[65],"for":[69,117],"nonlinear":[71],"uncertain":[73],"obstacles":[76],"encountered":[77],"maneuvering,":[80],"while":[81],"not":[82],"demanding":[83],"global":[84],"information":[85],"topology.":[89],"Toward":[90],"this":[91],"goal,":[92],"radial":[94],"basis":[95],"function":[96],"neural":[97],"network":[98],"used":[100],"model":[102],"nonlinearity":[105],"dynamics":[108],"each":[110],"repulsive":[113],"potentials":[114],"are":[115,150,163],"employed":[116],"avoidance.":[119],"Furthermore,":[120],"scalable":[122,178],"adaptive":[124,179],"protocol":[128],"built-in":[131],"mechanism":[134],"developed.":[136],"It":[137],"proved":[139],"that,":[140],"proposed":[143,177],"protocol,":[144],"resulting":[146],"errors":[149],"uniformly":[151],"ultimately":[152],"bounded":[153],"collision":[156,172],"guaranteed.":[159],"Comprehensive":[160],"simulation":[161],"results":[162],"elaborated":[164],"substantiate":[166],"effectiveness":[168],"promising":[171],"performance":[174],"approach.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":25},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":26},{"year":2022,"cited_by_count":13}],"updated_date":"2026-07-16T13:24:37.021932","created_date":"2025-10-10T00:00:00"}