{"id":"https://openalex.org/W7148419161","doi":"https://doi.org/10.1109/jiot.2026.3680274","title":"Local Node-Driven Distributed Formation Control for USVs: An LMPC-Based Safety-Enhanced Mechanism","display_name":"Local Node-Driven Distributed Formation Control for USVs: An LMPC-Based Safety-Enhanced Mechanism","publication_year":2026,"publication_date":"2026-04-02","ids":{"openalex":"https://openalex.org/W7148419161","doi":"https://doi.org/10.1109/jiot.2026.3680274"},"language":null,"primary_location":{"id":"doi:10.1109/jiot.2026.3680274","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2026.3680274","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"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 Internet of Things Journal","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":null,"display_name":"Zhuoran Sun","orcid":"https://orcid.org/0009-0009-7538-185X"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuoran Sun","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China"],"raw_orcid":"https://orcid.org/0009-0009-7538-185X","affiliations":[{"raw_affiliation_string":"School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022900344","display_name":"lichuan zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lichuan Zhang","raw_affiliation_strings":["School of Marine Science and Technology and the Aoxiang Key Laboratory, Northwestern Polytechnical University, Xi’an, China"],"raw_orcid":"https://orcid.org/0000-0001-8818-5721","affiliations":[{"raw_affiliation_string":"School of Marine Science and Technology and the Aoxiang Key Laboratory, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132780940","display_name":"Bing Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bing Huang","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China"],"raw_orcid":"https://orcid.org/0000-0002-2606-0058","affiliations":[{"raw_affiliation_string":"School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021845836","display_name":"Cheng Zhu","orcid":"https://orcid.org/0000-0001-7660-9697"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Zhu","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China"],"raw_orcid":"https://orcid.org/0000-0001-7660-9697","affiliations":[{"raw_affiliation_string":"School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.38095368,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":"12","first_page":"27405","last_page":"27419"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.8525000214576721,"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":0.8525000214576721,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.026200000196695328,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.012199999764561653,"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/mechanism","display_name":"Mechanism (biology)","score":0.48089998960494995},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4016999900341034},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3434000015258789},{"id":"https://openalex.org/keywords/electronic-mail","display_name":"Electronic mail","score":0.32739999890327454},{"id":"https://openalex.org/keywords/process-control","display_name":"Process control","score":0.2953999936580658},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.27900001406669617}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6759999990463257},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.48089998960494995},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4016999900341034},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3682999908924103},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3434000015258789},{"id":"https://openalex.org/C3020028006","wikidata":"https://www.wikidata.org/wiki/Q9158","display_name":"Electronic mail","level":2,"score":0.32739999890327454},{"id":"https://openalex.org/C155386361","wikidata":"https://www.wikidata.org/wiki/Q1649571","display_name":"Process control","level":3,"score":0.2953999936580658},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.27900001406669617},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.27390000224113464},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.26899999380111694},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.26269999146461487},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.258899986743927},{"id":"https://openalex.org/C70061542","wikidata":"https://www.wikidata.org/wiki/Q989016","display_name":"Distributed database","level":2,"score":0.2565999925136566}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2026.3680274","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2026.3680274","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"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 Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.5002975463867188}],"awards":[{"id":"https://openalex.org/G7849336584","display_name":null,"funder_award_id":"52501401","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8856477409","display_name":null,"funder_award_id":"D5000250055","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0,178],"rapid":[1],"advancement":[2],"of":[3,5,16,79,210],"Internet":[4],"Things":[6],"(IoT)":[7],"technologies":[8],"has":[9],"significantly":[10,120],"accelerated":[11],"the":[12,77,107,111,122,136,154,164,186,190,208,211],"development":[13],"and":[14,63,82,145,148,174,201],"deployment":[15],"networked":[17,26,40],"unmanned":[18],"surface":[19],"vehicles":[20],"(USVs)":[21],"in":[22,76,153],"maritime":[23],"operations.":[24],"Within":[25],"USV":[27,41],"systems,":[28],"affine":[29],"formation":[30,53,84],"maneuver":[31],"control":[32,96,138,192,213],"(AFMC)":[33],"offers":[34],"an":[35],"efficient":[36],"framework":[37],"for":[38,98,131,170],"coordinating":[39],"formations":[42],"through":[43],"flexible":[44],"shape":[45],"transformations.":[46],"However,":[47],"most":[48],"existing":[49],"AFMC":[50],"approaches":[51],"achieve":[52],"safety":[54,103],"by":[55,87,196],"relying":[56],"on":[57,199],"predefined":[58],"trajectories,":[59],"prior":[60],"environment":[61],"information,":[62],"fixed":[64],"topological":[65],"configurations,":[66],"which":[67,134],"makes":[68],"it":[69],"difficult":[70],"to":[71],"perform":[72],"dynamic":[73],"collision":[74,176],"avoidance":[75,173],"presence":[78],"pop-up":[80,171],"obstacles":[81],"aggressive":[83],"reconfigurations.":[85],"Motivated":[86],"this,":[88],"we":[89],"propose":[90],"a":[91,126,141,146],"distributed":[92],"Lyapunov-based":[93],"MPC":[94,113],"(LMPC)":[95],"scheme":[97,167,193],"underactuated":[99],"USVs":[100],"with":[101],"enhanced":[102],"assurance.":[104],"By":[105],"adding":[106],"Lyapunov":[108],"constraint":[109],"into":[110,140,163,185],"nonlinear":[112],"framework,":[114],"closed-loop":[115],"stability":[116,200],"is":[117,129,194],"guaranteed":[118],"while":[119],"alleviating":[121],"computational":[123],"burden.":[124],"First,":[125],"reference":[127],"system":[128],"introduced":[130],"each":[132],"USV,":[133],"decomposes":[135],"overall":[137],"architecture":[139],"trajectory":[142],"generation":[143],"layer":[144],"safety-aware":[147],"stability-guaranteed":[149],"execution":[150,155],"layer.":[151],"Then,":[152],"layer,":[156],"two":[157],"soft-constraint":[158],"penalty":[159],"terms":[160],"are":[161,182],"incorporated":[162,184],"LMPC":[165],"optimization":[166,187],"that":[168],"accounts":[169],"obstacle":[172],"inter-USV":[175],"avoidance.":[177],"actuator":[179],"saturation":[180],"constraints":[181],"also":[183],"process.":[188],"Moreover,":[189],"proposed":[191,212],"supported":[195],"theoretical":[197],"guarantees":[198],"recursive":[202],"feasibility.":[203],"Finally,":[204],"simulation":[205],"results":[206],"validate":[207],"effectiveness":[209],"scheme.":[214]},"counts_by_year":[],"updated_date":"2026-06-11T06:19:23.411458","created_date":"2026-04-03T00:00:00"}