{"id":"https://openalex.org/W2971011679","doi":"https://doi.org/10.1109/jsyst.2019.2935162","title":"Globally Stable Formation Control of Nonholonomic Multiagent Systems With Bearing-Only Measurement","display_name":"Globally Stable Formation Control of Nonholonomic Multiagent Systems With Bearing-Only Measurement","publication_year":2019,"publication_date":"2019-08-28","ids":{"openalex":"https://openalex.org/W2971011679","doi":"https://doi.org/10.1109/jsyst.2019.2935162","mag":"2971011679"},"language":"en","primary_location":{"id":"doi:10.1109/jsyst.2019.2935162","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsyst.2019.2935162","pdf_url":null,"source":{"id":"https://openalex.org/S95999327","display_name":"IEEE Systems Journal","issn_l":"1932-8184","issn":["1932-8184","1937-9234","2373-7816"],"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 Systems 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":"https://openalex.org/A5064776495","display_name":"Xiaoyuan Luo","orcid":"https://orcid.org/0000-0003-0404-9533"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyuan Luo","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0003-0404-9533","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112455640","display_name":"Xianluo Li","orcid":null},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianluo Li","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University, Qinhuangdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100366459","display_name":"Xiaolei Li","orcid":"https://orcid.org/0000-0002-5527-6042"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]},{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Xiaolei Li","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University, Qinhuangdao, China","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-5527-6042","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101511054","display_name":"Jing Yan","orcid":"https://orcid.org/0000-0001-7768-5720"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Yan","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0001-7768-5720","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100690710","display_name":"Xinping Guan","orcid":"https://orcid.org/0000-0003-1858-8538"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinping Guan","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-1858-8538","affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.0211,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.92156438,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"14","issue":"2","first_page":"2901","last_page":"2912"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9708999991416931,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9510999917984009,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6500017642974854},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.627670407295227},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6053582429885864},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5058107376098633},{"id":"https://openalex.org/keywords/infinitesimal","display_name":"Infinitesimal","score":0.483563631772995},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.45711684226989746},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.43521010875701904},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4247353971004486},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3379194140434265},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2777019143104553},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26664867997169495},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2008664608001709},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15136656165122986},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12249818444252014},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.10866263508796692},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10538589954376221}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6500017642974854},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.627670407295227},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6053582429885864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5058107376098633},{"id":"https://openalex.org/C91229774","wikidata":"https://www.wikidata.org/wiki/Q193885","display_name":"Infinitesimal","level":2,"score":0.483563631772995},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.45711684226989746},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.43521010875701904},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4247353971004486},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3379194140434265},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2777019143104553},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26664867997169495},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2008664608001709},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15136656165122986},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12249818444252014},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.10866263508796692},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10538589954376221},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jsyst.2019.2935162","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsyst.2019.2935162","pdf_url":null,"source":{"id":"https://openalex.org/S95999327","display_name":"IEEE Systems Journal","issn_l":"1932-8184","issn":["1932-8184","1937-9234","2373-7816"],"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 Systems Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2921093364","display_name":null,"funder_award_id":"61633017","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6616309162","display_name":null,"funder_award_id":"61903319","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7765168181","display_name":null,"funder_award_id":"61873228","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W112858196","https://openalex.org/W1495971413","https://openalex.org/W1503019334","https://openalex.org/W1635192251","https://openalex.org/W1969636693","https://openalex.org/W1979432817","https://openalex.org/W1981826826","https://openalex.org/W1982790752","https://openalex.org/W2016411453","https://openalex.org/W2021623772","https://openalex.org/W2022454844","https://openalex.org/W2023265378","https://openalex.org/W2031436371","https://openalex.org/W2031888719","https://openalex.org/W2034316458","https://openalex.org/W2040299065","https://openalex.org/W2044299979","https://openalex.org/W2051931451","https://openalex.org/W2067707207","https://openalex.org/W2080649593","https://openalex.org/W2101176445","https://openalex.org/W2113409897","https://openalex.org/W2119380466","https://openalex.org/W2123332983","https://openalex.org/W2131331878","https://openalex.org/W2140947684","https://openalex.org/W2141562024","https://openalex.org/W2147326597","https://openalex.org/W2234376346","https://openalex.org/W2256149680","https://openalex.org/W2282190135","https://openalex.org/W2343562255","https://openalex.org/W2474873663","https://openalex.org/W2503723147","https://openalex.org/W2536676093","https://openalex.org/W2560064674","https://openalex.org/W2592693527","https://openalex.org/W2728125027","https://openalex.org/W2736938556","https://openalex.org/W2755238136","https://openalex.org/W2762304185","https://openalex.org/W2780814805","https://openalex.org/W2801945547","https://openalex.org/W2888151111","https://openalex.org/W2913092074","https://openalex.org/W2962992878","https://openalex.org/W3022312225","https://openalex.org/W6721694352"],"related_works":["https://openalex.org/W2370598571","https://openalex.org/W2355499472","https://openalex.org/W2802540229","https://openalex.org/W2349230259","https://openalex.org/W2032198329","https://openalex.org/W2370818987","https://openalex.org/W2350226651","https://openalex.org/W2094384843","https://openalex.org/W1598287775","https://openalex.org/W2372233933"],"abstract_inverted_index":{"In":[0,125],"this":[1,47],"article,":[2],"the":[3,22,29,36,49,57,64,77,82,87,93,97,101,121,127,132,136,143,150,154,157],"formation":[4,33,72,123,134,138],"control":[5,105],"problem":[6],"of":[7,24,89,156],"multiagent":[8],"systems":[9],"with":[10,110],"nonholonomic":[11],"constraints":[12],"by":[13],"bearing-only":[14,71],"measurements":[15],"is":[16,39,53,74,107],"studied.":[17],"Many":[18],"previous":[19],"works":[20],"used":[21,54],"notation":[23],"infinitesimal":[25],"rigidity":[26],"to":[27,41,55,86,141],"define":[28,56],"communication":[30],"topology":[31],"in":[32,146],"control,":[34],"but":[35],"global":[37,83,102],"stability":[38,84],"difficult":[40],"achieve":[42,81],"without":[43],"leaders.":[44],"To":[45],"overcome":[46],"shortage,":[48],"maximal":[50,94],"clique":[51],"graph":[52],"topological":[58],"relationship":[59],"between":[60,92,118,131],"agents.":[61],"By":[62],"minimizing":[63],"designed":[65,98,158],"cost":[66],"function,":[67],"a":[68],"novel":[69],"distributed":[70],"controller":[73],"designed.":[75],"Then,":[76],"close-loop":[78],"system":[79],"can":[80,115],"due":[85],"existence":[88],"common":[90],"agents":[91,119],"cliques":[95],"under":[96],"controller.":[99],"Besides,":[100],"collision":[103],"avoidance":[104],"strategy":[106],"also":[108],"investigated":[109],"assistant":[111],"distance":[112],"measurement,":[113],"which":[114],"prevent":[116],"collisions":[117],"during":[120],"whole":[122],"process.":[124],"addition,":[126],"embedded":[128],"rotation":[129],"angles":[130],"final":[133],"and":[135],"target":[137],"are":[139],"presented":[140],"optimize":[142],"motion":[144],"process":[145],"real":[147],"time.":[148],"Finally,":[149],"simulation":[151],"results":[152],"verify":[153],"effectiveness":[155],"controllers.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}