{"id":"https://openalex.org/W4285237982","doi":"https://doi.org/10.1109/lra.2022.3188883","title":"A Framework for Optimized Topology Design and Leader Selection in Affine Formation Control","display_name":"A Framework for Optimized Topology Design and Leader Selection in Affine Formation Control","publication_year":2022,"publication_date":"2022-07-07","ids":{"openalex":"https://openalex.org/W4285237982","doi":"https://doi.org/10.1109/lra.2022.3188883"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3188883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3188883","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/A5047796714","display_name":"Fan Xiao","orcid":"https://orcid.org/0000-0003-4717-0536"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fan Xiao","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100650551","display_name":"Qingkai Yang","orcid":"https://orcid.org/0000-0001-9247-7786"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingkai Yang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113736505","display_name":"Xinyue Zhao","orcid":"https://orcid.org/0009-0003-3690-7288"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyue Zhao","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":null,"display_name":"Hao Fang","orcid":"https://orcid.org/0000-0002-9627-0325"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Fang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5047796714"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":3.2674,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.92250938,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"7","issue":"4","first_page":"8627","last_page":"8634"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.993399977684021,"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/T11896","display_name":"Opportunistic and Delay-Tolerant Networks","score":0.9882000088691711,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6456251740455627},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6026009321212769},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.6022580862045288},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.5894973874092102},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5366442203521729},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.49954891204833984},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4708642065525055},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.4576434791088104},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4231414198875427},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.4193304777145386},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3509649634361267},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.33270835876464844},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.32709163427352905},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3243306875228882},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23297685384750366},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.14082947373390198},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.07218101620674133}],"concepts":[{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6456251740455627},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6026009321212769},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.6022580862045288},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.5894973874092102},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5366442203521729},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.49954891204833984},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4708642065525055},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.4576434791088104},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4231414198875427},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.4193304777145386},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3509649634361267},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.33270835876464844},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.32709163427352905},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3243306875228882},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23297685384750366},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.14082947373390198},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.07218101620674133},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3188883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3188883","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.4300000071525574,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2575069074","display_name":null,"funder_award_id":"62088101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2613911948","display_name":null,"funder_award_id":"U1913602","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4653071965","display_name":null,"funder_award_id":"61903035","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4691714693","display_name":null,"funder_award_id":"61873033","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5853272322","display_name":null,"funder_award_id":"62073035","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8508485082","display_name":null,"funder_award_id":"62133002","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":28,"referenced_works":["https://openalex.org/W1964234880","https://openalex.org/W1971696783","https://openalex.org/W2027524385","https://openalex.org/W2029668960","https://openalex.org/W2050096026","https://openalex.org/W2068640222","https://openalex.org/W2102999303","https://openalex.org/W2107396783","https://openalex.org/W2138624490","https://openalex.org/W2162496869","https://openalex.org/W2343356083","https://openalex.org/W2343580824","https://openalex.org/W2535351973","https://openalex.org/W2598532228","https://openalex.org/W2787958879","https://openalex.org/W2801399257","https://openalex.org/W2891544371","https://openalex.org/W2963300745","https://openalex.org/W2963854146","https://openalex.org/W3047025538","https://openalex.org/W3059251387","https://openalex.org/W3084755046","https://openalex.org/W3085367937","https://openalex.org/W3089411138","https://openalex.org/W3135407103","https://openalex.org/W3205868448","https://openalex.org/W3210541510","https://openalex.org/W4205477633"],"related_works":["https://openalex.org/W2075328869","https://openalex.org/W2963864495","https://openalex.org/W3217323185","https://openalex.org/W2092179621","https://openalex.org/W4383428431","https://openalex.org/W2790547488","https://openalex.org/W2162982837","https://openalex.org/W4253816386","https://openalex.org/W2470918371","https://openalex.org/W2128791770"],"abstract_inverted_index":{"This":[0,49],"paper":[1],"studies":[2],"the":[3,33,52,57,62,70,90,106,135,141,156],"problem":[4],"of":[5,45,115,155],"topology":[6,60,74],"design":[7,75],"and":[8,100,120,148,164],"leader":[9,108],"selection":[10,109],"to":[11,88,103,126,140],"activate":[12],"affine":[13],"formation":[14,21,35,143],"control":[15,29,121,151],"schemes.":[16],"The":[17,153],"<italic":[18,79],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[19,80],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">affine":[20],"control</i>":[22],"enjoys":[23],"a":[24,42,73],"distinguishing":[25],"feature":[26],"from":[27],"other":[28],"methods":[30],"in":[31],"that":[32],"whole":[34],"can":[36],"be":[37],"dynamically":[38],"maneuvered":[39],"by":[40,161],"controlling":[41],"small":[43],"number":[44],"agents":[46,137],"called":[47],"leaders.":[48],"relies":[50],"on":[51,78,112,131],"stress":[53,91],"matrix":[54,92],"which":[55,123],"defines":[56],"inter-agent":[58],"communication/sensing":[59],"determining":[61],"dynamic":[63],"performance":[64],"for":[65],"an":[66],"autonomous":[67],"system.":[68],"In":[69],"first":[71],"step,":[72],"algorithm":[76,110],"based":[77,130],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">mixed":[81],"integer":[82],"semi-definite":[83],"programming</i>":[84],"(MISDP)":[85],"is":[86,159],"proposed":[87,107],"obtain":[89],"with":[93],"low":[94],"communication":[95],"cost,":[96],"fast":[97],"convergence":[98,118],"speed":[99,119],"high":[101],"tolerance":[102],"time-delay.":[104],"Secondly,":[105],"focuses":[111],"two":[113,127],"objectives":[114],"practical":[116],"significance:":[117],"energy,":[122],"are":[124,138],"tailored":[125],"optimization":[128],"problems":[129],"MISDP.":[132],"At":[133],"last,":[134],"collective":[136],"driven":[139],"target":[142],"via":[144],"their":[145],"local":[146],"interactions":[147],"leaders\u2019":[149],"external":[150],"inputs.":[152],"effectiveness":[154],"overall":[157],"framework":[158],"validated":[160],"both":[162],"simulations":[163],"physical":[165],"experiments.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":7}],"updated_date":"2026-03-25T23:56:10.502304","created_date":"2025-10-10T00:00:00"}