{"id":"https://openalex.org/W3214428596","doi":"https://doi.org/10.1109/jas.2021.1004320","title":"Maximizing Convergence Speed for Second Order Consensus in Leaderless Multi-Agent Systems","display_name":"Maximizing Convergence Speed for Second Order Consensus in Leaderless Multi-Agent Systems","publication_year":2021,"publication_date":"2021-11-04","ids":{"openalex":"https://openalex.org/W3214428596","doi":"https://doi.org/10.1109/jas.2021.1004320","mag":"3214428596"},"language":"en","primary_location":{"id":"doi:10.1109/jas.2021.1004320","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2021.1004320","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/A5037100357","display_name":"Gianvito Difilippo","orcid":null},"institutions":[{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Gianvito Difilippo","raw_affiliation_strings":["Polytechnic University of Bari, Bari, Italy"],"affiliations":[{"raw_affiliation_string":"Polytechnic University of Bari, Bari, Italy","institution_ids":["https://openalex.org/I68618741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071850448","display_name":"Maria Pia Fanti","orcid":"https://orcid.org/0000-0002-8612-1852"},"institutions":[{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Maria Pia Fanti","raw_affiliation_strings":["Polytechnic University of Bari, Bari, Italy"],"affiliations":[{"raw_affiliation_string":"Polytechnic University of Bari, Bari, Italy","institution_ids":["https://openalex.org/I68618741"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075649674","display_name":"Agostino Marcello Mangini","orcid":"https://orcid.org/0000-0001-6850-6153"},"institutions":[{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Agostino Marcello Mangini","raw_affiliation_strings":["Polytechnic University of Bari, Bari, Italy"],"affiliations":[{"raw_affiliation_string":"Polytechnic University of Bari, Bari, Italy","institution_ids":["https://openalex.org/I68618741"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5037100357"],"corresponding_institution_ids":["https://openalex.org/I68618741"],"apc_list":null,"apc_paid":null,"fwci":3.1856,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.9207696,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"9","issue":"2","first_page":"259","last_page":"269"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":1.0,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9984999895095825,"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/T11896","display_name":"Opportunistic and Delay-Tolerant Networks","score":0.9958999752998352,"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/convergence","display_name":"Convergence (economics)","score":0.7639656066894531},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.5990151762962341},{"id":"https://openalex.org/keywords/consensus","display_name":"Consensus","score":0.5847890377044678},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5516201853752136},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5350841879844666},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4941461384296417},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4555540978908539},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.4429948627948761},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4399653971195221},{"id":"https://openalex.org/keywords/string","display_name":"String (physics)","score":0.438446581363678},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4316380023956299},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.34914472699165344},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31845784187316895},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29834821820259094},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.2584592401981354},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15111392736434937},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09562724828720093},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.09335055947303772}],"concepts":[{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.7639656066894531},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.5990151762962341},{"id":"https://openalex.org/C107107730","wikidata":"https://www.wikidata.org/wiki/Q2994424","display_name":"Consensus","level":3,"score":0.5847890377044678},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5516201853752136},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5350841879844666},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4941461384296417},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4555540978908539},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.4429948627948761},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4399653971195221},{"id":"https://openalex.org/C157486923","wikidata":"https://www.wikidata.org/wiki/Q1376436","display_name":"String (physics)","level":2,"score":0.438446581363678},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4316380023956299},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.34914472699165344},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31845784187316895},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29834821820259094},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.2584592401981354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15111392736434937},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09562724828720093},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.09335055947303772},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"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/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jas.2021.1004320","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2021.1004320","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W186974785","https://openalex.org/W1675099616","https://openalex.org/W1966664442","https://openalex.org/W1970442053","https://openalex.org/W1970786657","https://openalex.org/W1989041972","https://openalex.org/W1994266262","https://openalex.org/W1996688629","https://openalex.org/W2012812921","https://openalex.org/W2050505323","https://openalex.org/W2056567727","https://openalex.org/W2056630399","https://openalex.org/W2073838620","https://openalex.org/W2074032690","https://openalex.org/W2095712111","https://openalex.org/W2107396783","https://openalex.org/W2111366290","https://openalex.org/W2117189493","https://openalex.org/W2143843955","https://openalex.org/W2160420729","https://openalex.org/W2165469059","https://openalex.org/W2166833517","https://openalex.org/W2171153629","https://openalex.org/W2171731824","https://openalex.org/W2288643351","https://openalex.org/W2336159922","https://openalex.org/W2481567349","https://openalex.org/W2537157497","https://openalex.org/W2579831330","https://openalex.org/W2887483058","https://openalex.org/W2900111135","https://openalex.org/W2904750032","https://openalex.org/W2951737883","https://openalex.org/W2963477213","https://openalex.org/W2979407711","https://openalex.org/W2999262688","https://openalex.org/W3002448192","https://openalex.org/W3097679021","https://openalex.org/W3118402763","https://openalex.org/W3119852476","https://openalex.org/W3153945582","https://openalex.org/W4238591275","https://openalex.org/W6607646122","https://openalex.org/W7067585292"],"related_works":["https://openalex.org/W2075497702","https://openalex.org/W2509134443","https://openalex.org/W2734779156","https://openalex.org/W2552322538","https://openalex.org/W1490949538","https://openalex.org/W1598820299","https://openalex.org/W2079049982","https://openalex.org/W2751205960","https://openalex.org/W2299905190","https://openalex.org/W2292721517"],"abstract_inverted_index":{"The":[0,80,103],"paper":[1],"deals":[2],"with":[3,95,127],"the":[4,27,36,45,74,83,100,128],"consensus":[5,46,85],"problem":[6],"in":[7,38,70,99],"a":[8,17,22,39,55,60,66,96,132],"leaderless":[9,42],"network":[10],"of":[11,62,82],"agents":[12,37,111],"that":[13,123],"have":[14,124],"to":[15,72,109,125],"reach":[16],"common":[18,29,133],"velocity":[19,30,130],"while":[20],"forming":[21],"uniformly":[23],"spaced":[24],"string.":[25],"Moreover,":[26],"final":[28],"(reference":[31],"velocity)":[32],"is":[33],"determined":[34],"by":[35,54,59,89],"distributed":[40],"and":[41,77,93,120,131],"way.":[43],"Then,":[44],"protocol":[47,86,97,105],"parameters":[48],"are":[49,87],"optimized":[50,84],"for":[51],"networks":[52],"characterized":[53],"communication":[56],"topology":[57],"described":[58],"class":[61],"directed":[63,67],"graphs":[64],"having":[65],"spanning":[68],"tree,":[69],"order":[71],"maximize":[73],"convergence":[75],"rate":[76],"avoid":[78],"oscillations.":[79],"advantages":[81],"enlightened":[88],"some":[90],"simulation":[91],"results":[92],"comparison":[94],"proposed":[98],"related":[101],"literature.":[102],"presented":[104],"can":[106],"be":[107],"applied":[108],"coordinate":[110],"such":[112],"as":[113],"mobile":[114],"robots,":[115],"automated":[116],"guided":[117],"vehicles":[118,122],"(AGVs)":[119],"autonomous":[121],"move":[126],"same":[129],"inter-space":[134],"gap.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5}],"updated_date":"2026-03-22T08:09:32.410652","created_date":"2025-10-10T00:00:00"}