{"id":"https://openalex.org/W3035223487","doi":"https://doi.org/10.1109/lcsys.2020.3002218","title":"Distributed Formation Control for Multi-Vehicle Systems with Splitting and Merging Capability","display_name":"Distributed Formation Control for Multi-Vehicle Systems with Splitting and Merging Capability","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3035223487","doi":"https://doi.org/10.1109/lcsys.2020.3002218","mag":"3035223487"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2020.3002218","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2020.3002218","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"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 Control Systems Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://researchonline.ljmu.ac.uk/id/eprint/13243/1/Manuscript_L-CSS_v3_QZ.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5097816078","display_name":"Szilard Novoth","orcid":null},"institutions":[{"id":"https://openalex.org/I63098007","display_name":"Liverpool John Moores University","ror":"https://ror.org/04zfme737","country_code":"GB","type":"education","lineage":["https://openalex.org/I63098007"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Szilard Novoth","raw_affiliation_strings":["Department of Electronics and Electrical Engineering, Liverpool John Moores University, Liverpool, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Electrical Engineering, Liverpool John Moores University, Liverpool, U.K","institution_ids":["https://openalex.org/I63098007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010875771","display_name":"Qian Zhang","orcid":"https://orcid.org/0000-0002-0651-469X"},"institutions":[{"id":"https://openalex.org/I63098007","display_name":"Liverpool John Moores University","ror":"https://ror.org/04zfme737","country_code":"GB","type":"education","lineage":["https://openalex.org/I63098007"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Qian Zhang","raw_affiliation_strings":["Department of Electronics and Electrical Engineering, Liverpool John Moores University, Liverpool, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Electrical Engineering, Liverpool John Moores University, Liverpool, U.K","institution_ids":["https://openalex.org/I63098007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057284460","display_name":"Kang Ji","orcid":"https://orcid.org/0000-0001-7338-9772"},"institutions":[{"id":"https://openalex.org/I63098007","display_name":"Liverpool John Moores University","ror":"https://ror.org/04zfme737","country_code":"GB","type":"education","lineage":["https://openalex.org/I63098007"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kang Ji","raw_affiliation_strings":["Department of Electronics and Electrical Engineering, Liverpool John Moores University, Liverpool, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Electrical Engineering, Liverpool John Moores University, Liverpool, U.K","institution_ids":["https://openalex.org/I63098007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034102301","display_name":"Dingli Yu","orcid":"https://orcid.org/0000-0003-3177-8942"},"institutions":[{"id":"https://openalex.org/I63098007","display_name":"Liverpool John Moores University","ror":"https://ror.org/04zfme737","country_code":"GB","type":"education","lineage":["https://openalex.org/I63098007"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dingli Yu","raw_affiliation_strings":["Department of Electronics and Electrical Engineering, Liverpool John Moores University, Liverpool, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Electrical Engineering, Liverpool John Moores University, Liverpool, U.K","institution_ids":["https://openalex.org/I63098007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63098007"],"apc_list":null,"apc_paid":null,"fwci":1.7001,"has_fulltext":true,"cited_by_count":19,"citation_normalized_percentile":{"value":0.85317574,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"1"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9919999837875366,"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":0.9790999889373779,"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/merge","display_name":"Merge (version control)","score":0.7983183860778809},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.675543487071991},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.612263023853302},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5259383320808411},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4440900683403015},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.43057239055633545},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.40224283933639526},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3897431790828705},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3339214026927948},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18604597449302673},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09725981950759888},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.08839777112007141}],"concepts":[{"id":"https://openalex.org/C197129107","wikidata":"https://www.wikidata.org/wiki/Q1921621","display_name":"Merge (version control)","level":2,"score":0.7983183860778809},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.675543487071991},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.612263023853302},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5259383320808411},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4440900683403015},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.43057239055633545},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40224283933639526},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3897431790828705},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3339214026927948},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18604597449302673},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09725981950759888},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.08839777112007141},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lcsys.2020.3002218","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2020.3002218","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"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 Control Systems Letters","raw_type":"journal-article"},{"id":"pmh:oai:researchonline.ljmu.ac.uk:13243","is_oa":true,"landing_page_url":null,"pdf_url":"https://researchonline.ljmu.ac.uk/id/eprint/13243/1/Manuscript_L-CSS_v3_QZ.pdf","source":{"id":"https://openalex.org/S4306401246","display_name":"Liverpool John Moores University","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63098007","host_organization_name":"Liverpool John Moores University","host_organization_lineage":["https://openalex.org/I63098007"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:researchonline.ljmu.ac.uk:13243","is_oa":true,"landing_page_url":null,"pdf_url":"https://researchonline.ljmu.ac.uk/id/eprint/13243/1/Manuscript_L-CSS_v3_QZ.pdf","source":{"id":"https://openalex.org/S4306401246","display_name":"Liverpool John Moores University","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63098007","host_organization_name":"Liverpool John Moores University","host_organization_lineage":["https://openalex.org/I63098007"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3035223487.pdf","grobid_xml":"https://content.openalex.org/works/W3035223487.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1567215980","https://openalex.org/W1988600994","https://openalex.org/W2017085520","https://openalex.org/W2036316876","https://openalex.org/W2123871098","https://openalex.org/W2150312211","https://openalex.org/W2295237948","https://openalex.org/W2295417718","https://openalex.org/W2522978412","https://openalex.org/W2550341318","https://openalex.org/W2565972716","https://openalex.org/W2749468379","https://openalex.org/W2767100472","https://openalex.org/W2887736113","https://openalex.org/W2902909548","https://openalex.org/W2969092468","https://openalex.org/W2981655159","https://openalex.org/W3090649643","https://openalex.org/W4250589301","https://openalex.org/W4292363360","https://openalex.org/W6729594902","https://openalex.org/W6745263963"],"related_works":["https://openalex.org/W4234886518","https://openalex.org/W2389591058","https://openalex.org/W2382112581","https://openalex.org/W3124036233","https://openalex.org/W4229787472","https://openalex.org/W2486541857","https://openalex.org/W2108840191","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W2759366996"],"abstract_inverted_index":{"This":[0],"letter":[1],"develops":[2],"a":[3,33,81],"novel":[4],"strategy":[5,39],"for":[6],"splitting":[7,90,136],"and":[8,57,76,91,119,142],"merging":[9,92],"of":[10,43,65,93,100,130],"agents":[11,31],"travelling":[12],"in":[13,32,89,127],"formation.":[14],"The":[15,36],"method":[16],"converts":[17],"the":[18,30,51,72,94,98,101,109,112,128,137],"formation":[19,78,113],"control":[20,38],"problem":[21,75],"into":[22],"an":[23],"optimization":[24,74],"problem,":[25],"which":[26,49,96],"is":[27,40,68,83,114],"solved":[28],"among":[29,133],"distributed":[34],"fashion.":[35],"proposed":[37,110],"one":[41],"type":[42],"Distributed":[44],"Model":[45],"Predictive":[46],"Control":[47],"(DMPC)":[48],"allows":[50],"system":[52],"to":[53,70,85,116,122],"cope":[54],"with":[55],"disturbances":[56],"dynamic":[58],"environments.":[59],"A":[60],"modified":[61],"Alternating":[62],"Direction":[63],"Method":[64],"Multipliers":[66],"(ADMM)":[67],"designed":[69,84],"solve":[71],"trajectory":[73],"achieve":[77],"scaling.":[79],"Furthermore,":[80],"mechanism":[82],"implement":[86],"path":[87],"homotopy":[88],"formation,":[95],"examines":[97],"H-signature":[99],"generated":[102],"trajectories.":[103],"Simulation":[104],"shows":[105],"that,":[106],"by":[107],"using":[108],"method,":[111],"able":[115],"automatically":[117],"resize":[118],"dynamically":[120],"split":[121],"better":[123],"avoid":[124],"obstacles,":[125],"even":[126],"case":[129],"losing":[131],"communication":[132],"agents.":[134],"Upon":[135],"newly":[138],"formed":[139],"groups":[140],"proceed":[141],"merge":[143],"again":[144],"when":[145],"it":[146],"becomes":[147],"possible.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
