{"id":"https://openalex.org/W4210834531","doi":"https://doi.org/10.1109/lra.2022.3148455","title":"Safe, Fast, and Efficient Distributed Receding Horizon Constrained Control of Aerial Robot Swarms","display_name":"Safe, Fast, and Efficient Distributed Receding Horizon Constrained Control of Aerial Robot Swarms","publication_year":2022,"publication_date":"2022-02-07","ids":{"openalex":"https://openalex.org/W4210834531","doi":"https://doi.org/10.1109/lra.2022.3148455"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3148455","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3148455","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation 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/A5035825479","display_name":"Bryan Convens","orcid":"https://orcid.org/0000-0002-5508-9896"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Bryan Convens","raw_affiliation_strings":["Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","Imec, Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-5508-9896","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Imec, Leuven, Belgium","institution_ids":["https://openalex.org/I4210114974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083480061","display_name":"Kelly Merckaert","orcid":"https://orcid.org/0000-0002-8326-3249"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Kelly Merckaert","raw_affiliation_strings":["Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","Flanders Make, Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-8326-3249","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Flanders Make, Leuven, Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060438410","display_name":"Marco M. Nicotra","orcid":"https://orcid.org/0000-0003-0456-9766"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marco M. Nicotra","raw_affiliation_strings":["Department of Electrical, Computer, and Energy Engineering, University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0003-0456-9766","affiliations":[{"raw_affiliation_string":"Department of Electrical, Computer, and Energy Engineering, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010914606","display_name":"Bram Vanderborght","orcid":"https://orcid.org/0000-0003-4881-9341"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Bram Vanderborght","raw_affiliation_strings":["Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","Imec, Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0003-4881-9341","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Imec, Leuven, Belgium","institution_ids":["https://openalex.org/I4210114974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2185,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.79514186,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"4173","last_page":"4180"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991999864578247,"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":0.9879999756813049,"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/scalability","display_name":"Scalability","score":0.6978502869606018},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6856691241264343},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6611301898956299},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5967895984649658},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4493166506290436},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4335326850414276},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.4166712462902069},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39563870429992676},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.36288630962371826},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3269982635974884},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32193055748939514},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22932764887809753},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20619434118270874},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1594429612159729},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08053833246231079}],"concepts":[{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6978502869606018},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6856691241264343},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6611301898956299},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5967895984649658},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4493166506290436},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4335326850414276},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.4166712462902069},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39563870429992676},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.36288630962371826},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3269982635974884},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32193055748939514},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22932764887809753},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20619434118270874},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1594429612159729},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08053833246231079},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2022.3148455","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3148455","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:158856","is_oa":false,"landing_page_url":"https://biblio.vub.ac.be/vubir/safe-fast-and-efficient-distributed-receding-horizon-constrained-control-of-aerial-robot-swarms(90b22aff-e16c-4b23-b76d-1641db84a743).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"publishedVersion"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:207960","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321730","display_name":"Fonds Wetenschappelijk Onderzoek","ror":"https://ror.org/03qtxy027"},{"id":"https://openalex.org/F4320327336","display_name":"Vlaamse regering","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1964342070","https://openalex.org/W1972013173","https://openalex.org/W2002440441","https://openalex.org/W2076738229","https://openalex.org/W2107292630","https://openalex.org/W2109656638","https://openalex.org/W2291537719","https://openalex.org/W2551491290","https://openalex.org/W2573311857","https://openalex.org/W2766621710","https://openalex.org/W2787876816","https://openalex.org/W2886013082","https://openalex.org/W2891214310","https://openalex.org/W2909324603","https://openalex.org/W2909686384","https://openalex.org/W2968945909","https://openalex.org/W2972941110","https://openalex.org/W2999746904","https://openalex.org/W3009466115","https://openalex.org/W3077668761","https://openalex.org/W3099578266","https://openalex.org/W3105339894","https://openalex.org/W3106159961","https://openalex.org/W3134785673","https://openalex.org/W3139047046","https://openalex.org/W3160193765","https://openalex.org/W3175651440"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2889566344","https://openalex.org/W2981729160","https://openalex.org/W2081900870","https://openalex.org/W2743212448","https://openalex.org/W650625605","https://openalex.org/W4310743282","https://openalex.org/W3046417820","https://openalex.org/W1819938260","https://openalex.org/W2340892746"],"abstract_inverted_index":{"This":[0],"letter":[1],"proposes":[2],"a":[3,44],"reactive,":[4],"safe,":[5],"and":[6,24,29,79,85,92,102],"high-performance":[7],"distributed":[8],"constrained":[9],"control":[10,66],"law":[11,67],"for":[12,71,77],"ensuring":[13],"safety":[14,63],"in":[15],"multi-UAV":[16,39],"systems.":[17],"The":[18,65,81],"UAVs":[19,108],"possess":[20],"higher-order":[21],"nonlinear":[22],"dynamics":[23],"are":[25,90],"subject":[26],"to":[27],"actuation":[28],"collision":[30,40,97],"avoidance":[31,98],"constraints.":[32],"To":[33],"address":[34],"the":[35,55,88],"case":[36],"of":[37,57,87],"real-time":[38,96],"avoidance,":[41],"we":[42],"propose":[43],"novel":[45],"Trajectory-Tube":[46],"Distributed":[47],"Explicit":[48],"Reference":[49],"Governor":[50],"(TT-D-ERG)":[51],"approach":[52],"based":[53],"on":[54],"idea":[56],"embedding":[58],"future":[59],"state":[60],"trajectories":[61],"into":[62],"tubes.":[64],"is":[68],"ideally":[69],"suited":[70],"systems":[72],"with":[73,105],"limited":[74],"on-board":[75],"hardware":[76],"computation":[78],"communication.":[80],"safety,":[82],"efficacy,":[83],"performance,":[84],"scalability":[86],"method":[89],"demonstrated":[91],"benchmarked":[93],"against":[94],"state-of-the-art":[95],"methods":[99],"by":[100],"simulations":[101],"field":[103],"experiments":[104],"multiple":[106],"quadrotor":[107],"(videos":[109],"at":[110],"<uri":[111],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[112],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://youtu.be/V4P1O8vhKlo</uri>":[113],").":[114]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-14T07:44:22.658603","created_date":"2025-10-10T00:00:00"}
