{"id":"https://openalex.org/W4411336616","doi":"https://doi.org/10.1109/lcsys.2025.3580045","title":"Distributed Simultaneous Centroid Estimation and Formation Tracking Control Using Relative Position Measurement","display_name":"Distributed Simultaneous Centroid Estimation and Formation Tracking Control Using Relative Position Measurement","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4411336616","doi":"https://doi.org/10.1109/lcsys.2025.3580045"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2025.3580045","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2025.3580045","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5116480141","display_name":"Thanacha Choopojcharoen","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Thanacha Choopojcharoen","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":"https://orcid.org/0009-0009-7634-9229","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072090223","display_name":"Erman Selim","orcid":"https://orcid.org/0000-0003-4479-0406"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Erman Selim","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0003-4479-0406","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001551882","display_name":"Bar\u0131\u015f Fi\u0307dan","orcid":"https://orcid.org/0000-0002-5333-0201"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Baris Fidan","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-5333-0201","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14988249,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"9","issue":null,"first_page":"1297","last_page":"1302"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11801","display_name":"Reservoir Engineering and Simulation Methods","score":0.9812999963760376,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11801","display_name":"Reservoir Engineering and Simulation Methods","score":0.9812999963760376,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10271","display_name":"Seismic Imaging and Inversion Techniques","score":0.9556999802589417,"subfield":{"id":"https://openalex.org/subfields/1908","display_name":"Geophysics"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10635","display_name":"Hydraulic Fracturing and Reservoir Analysis","score":0.9487000107765198,"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/centroid","display_name":"Centroid","score":0.809941291809082},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6767913699150085},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6668911576271057},{"id":"https://openalex.org/keywords/position-tracking","display_name":"Position tracking","score":0.5487984418869019},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5019316673278809},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.45987147092819214},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41088879108428955},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37383922934532166},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14659476280212402},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.08865946531295776},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.05507814884185791},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.04726535081863403}],"concepts":[{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.809941291809082},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6767913699150085},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6668911576271057},{"id":"https://openalex.org/C3017729373","wikidata":"https://www.wikidata.org/wiki/Q30324728","display_name":"Position tracking","level":3,"score":0.5487984418869019},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5019316673278809},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.45987147092819214},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41088879108428955},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37383922934532166},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14659476280212402},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.08865946531295776},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.05507814884185791},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.04726535081863403},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lcsys.2025.3580045","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2025.3580045","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6299999952316284,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1503019334","https://openalex.org/W1560903273","https://openalex.org/W1575685434","https://openalex.org/W1981826826","https://openalex.org/W1992772528","https://openalex.org/W2130532917","https://openalex.org/W2594873560","https://openalex.org/W2768728398","https://openalex.org/W2888129882","https://openalex.org/W2981621706","https://openalex.org/W3008038390","https://openalex.org/W3032266707","https://openalex.org/W3036610873","https://openalex.org/W3126305849","https://openalex.org/W3153865577","https://openalex.org/W3211582485","https://openalex.org/W4234533326","https://openalex.org/W4295789344","https://openalex.org/W4302763731","https://openalex.org/W4312098170","https://openalex.org/W4402261754","https://openalex.org/W4404742941","https://openalex.org/W4407949833","https://openalex.org/W4409580886"],"related_works":["https://openalex.org/W2368171712","https://openalex.org/W2377883971","https://openalex.org/W2390520202","https://openalex.org/W2095090092","https://openalex.org/W2173873792","https://openalex.org/W1554299246","https://openalex.org/W24060522","https://openalex.org/W4402912588","https://openalex.org/W2187072034","https://openalex.org/W2968284120"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,66,85,190],"distributed":[4,71,132,191],"framework":[5,64],"for":[6,136,140,146,167],"simultaneous":[7],"rigid":[8],"formation":[9,77,116,123,137,149],"control":[10,133,171],"and":[11,26,33,51,76,111,118,125,144,157,170,184],"trajectory":[12,142],"tracking":[13],"in":[14,155,160],"n":[15],"dimensional":[16],"space":[17],"(n=2,3),":[18],"motivated":[19],"by":[20],"coordinated":[21],"multi-agent":[22],"transport,":[23],"cooperative":[24],"surveillance,":[25],"fractionated":[27],"spacecraft":[28],"applications,":[29],"which":[30],"demand":[31],"flexible":[32],"scalable":[34],"alternatives":[35],"to":[36,92,104,178],"traditional":[37],"single-agent":[38],"approaches.":[39],"In":[40],"scenarios":[41],"where":[42],"only":[43,55],"one":[44,135,139,145],"agent":[45,53],"knows":[46],"its":[47,60],"own":[48],"global":[49],"position,":[50],"each":[52],"measures":[54],"the":[56,62,106,115,148,175],"relative":[57],"positions":[58,107],"of":[59,108,121],"neighbors,":[61],"proposed":[63],"integrates":[65],"two-layer":[67],"decentralized":[68],"estimator":[69,82,97],"with":[70],"centroid":[72,117,124,141],"tracking,":[73,143],"orientation":[74,126],"alignment,":[75],"maintenance":[78],"controllers.":[79],"The":[80,95],"first":[81],"layer":[83,98],"employs":[84],"consensus-based":[86],"self-estimation":[87],"law,":[88],"ensuring":[89],"exponential":[90,165],"convergence":[91,166],"actual":[93],"value.":[94],"second":[96],"extends":[99],"this":[100],"capability,":[101],"allowing":[102],"agents":[103],"estimate":[105],"their":[109],"peers,":[110],"hence":[112],"cooperatively":[113],"compute":[114],"orientation.":[119],"Tracking":[120],"predefined":[122],"trajectories":[127],"is":[128],"achieved":[129],"via":[130],"three":[131],"laws:":[134],"maintenance,":[138],"aligning":[147],"orientation,":[150],"using":[151],"unit":[152,158],"complex":[153],"numbers":[154],"2D":[156],"quaternions":[159],"3D.":[161],"Lyapunov-based":[162],"analysis":[163],"establishes":[164],"all":[168,188],"estimation":[169],"components.":[172],"Simulations":[173],"demonstrate":[174],"formation\u2019s":[176],"ability":[177],"maintain":[179],"geometric":[180],"integrity,":[181],"track":[182],"trajectories,":[183],"achieve":[185],"desired":[186],"orientations,":[187],"within":[189],"framework.":[192]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}