{"id":"https://openalex.org/W4285613368","doi":"https://doi.org/10.1109/lra.2022.3191236","title":"Distributed Consensus-Based Online Monitoring of Robot Swarms With Temporal Logic Specifications","display_name":"Distributed Consensus-Based Online Monitoring of Robot Swarms With Temporal Logic Specifications","publication_year":2022,"publication_date":"2022-07-15","ids":{"openalex":"https://openalex.org/W4285613368","doi":"https://doi.org/10.1109/lra.2022.3191236"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3191236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3191236","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/A5065233087","display_name":"Ruixuan Yan","orcid":"https://orcid.org/0000-0001-5132-656X"},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ruixuan Yan","raw_affiliation_strings":["Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA"],"raw_orcid":"https://orcid.org/0000-0001-5132-656X","affiliations":[{"raw_affiliation_string":"Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA","institution_ids":["https://openalex.org/I165799507"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029921181","display_name":"A. Agung Julius","orcid":"https://orcid.org/0000-0002-0970-3226"},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Agung Julius","raw_affiliation_strings":["Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA"],"raw_orcid":"https://orcid.org/0000-0002-0970-3226","affiliations":[{"raw_affiliation_string":"Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA","institution_ids":["https://openalex.org/I165799507"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5065233087"],"corresponding_institution_ids":["https://openalex.org/I165799507"],"apc_list":null,"apc_paid":null,"fwci":1.5686,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.83635299,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"7","issue":"4","first_page":"9413","last_page":"9420"},"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/T10621","display_name":"Gene Regulatory Network Analysis","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9868000149726868,"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/swarm-behaviour","display_name":"Swarm behaviour","score":0.8043891191482544},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6055564880371094},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.6009954214096069},{"id":"https://openalex.org/keywords/centroid","display_name":"Centroid","score":0.5793629884719849},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.578568160533905},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5283554196357727},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4764723777770996},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.47577276825904846},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4601782560348511},{"id":"https://openalex.org/keywords/consensus-algorithm","display_name":"Consensus algorithm","score":0.4347917437553406},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4242386817932129},{"id":"https://openalex.org/keywords/distributed-algorithm","display_name":"Distributed algorithm","score":0.4151257574558258},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4078167676925659},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.38203808665275574},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37113887071609497},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1909758448600769},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.17023125290870667},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.07554000616073608}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.8043891191482544},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6055564880371094},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.6009954214096069},{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.5793629884719849},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.578568160533905},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5283554196357727},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4764723777770996},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.47577276825904846},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4601782560348511},{"id":"https://openalex.org/C2983222225","wikidata":"https://www.wikidata.org/wiki/Q2994424","display_name":"Consensus algorithm","level":2,"score":0.4347917437553406},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4242386817932129},{"id":"https://openalex.org/C130120984","wikidata":"https://www.wikidata.org/wiki/Q2835898","display_name":"Distributed algorithm","level":2,"score":0.4151257574558258},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4078167676925659},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.38203808665275574},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37113887071609497},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1909758448600769},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.17023125290870667},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.07554000616073608},{"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3191236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3191236","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W828139470","https://openalex.org/W1533557569","https://openalex.org/W1547304883","https://openalex.org/W1975134293","https://openalex.org/W1994860969","https://openalex.org/W2006607002","https://openalex.org/W2018380024","https://openalex.org/W2031188261","https://openalex.org/W2049399166","https://openalex.org/W2054790064","https://openalex.org/W2101804404","https://openalex.org/W2105934661","https://openalex.org/W2108526989","https://openalex.org/W2110579257","https://openalex.org/W2117905067","https://openalex.org/W2118331730","https://openalex.org/W2153344006","https://openalex.org/W2606589726","https://openalex.org/W2783378806","https://openalex.org/W2792109834","https://openalex.org/W2919173667","https://openalex.org/W2945062758","https://openalex.org/W2955404434","https://openalex.org/W2963117388","https://openalex.org/W2963972845","https://openalex.org/W2964257036","https://openalex.org/W2998208410","https://openalex.org/W3021964239","https://openalex.org/W3033621224","https://openalex.org/W3045892444","https://openalex.org/W3186567150","https://openalex.org/W3207334744","https://openalex.org/W4234406933"],"related_works":["https://openalex.org/W2246375794","https://openalex.org/W2579899350","https://openalex.org/W2792781778","https://openalex.org/W2134065230","https://openalex.org/W2094121838","https://openalex.org/W2123112061","https://openalex.org/W2303378850","https://openalex.org/W2020715069","https://openalex.org/W2414729482","https://openalex.org/W2289967712"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"we":[3,62,82],"develop":[4],"a":[5,12,16,64,147,170],"distributed":[6,132,164],"consensus-based":[7],"online":[8],"monitoring":[9,133,165],"framework":[10,166],"for":[11,95,135],"robot":[13],"swarm":[14,26,159],"with":[15,59,70],"fixed":[17],"graph":[18],"structure.":[19],"Each":[20],"agent":[21,76],"can":[22,151],"monitor":[23,152],"whether":[24],"the":[25,31,79,84,88,96,103,106,118,125,142,149,153,175,180],"satisfies":[27],"specifications":[28],"given":[29],"in":[30,179],"form":[32],"of":[33,45,87,102,124,131,155,177],"Swarm":[34],"Signal":[35],"Temporal":[36],"Logic":[37],"(SwarmSTL)":[38],"formulas.":[39],"SwarmSTL":[40,136,156],"formulas":[41,137,157],"describe":[42],"temporal":[43],"properties":[44,86],"swarm-level":[46],"features":[47,160],"represented":[48],"by":[49],"generalized":[50,65],"moments":[51],"(GMs),":[52],"e.g.,":[53],"centroid":[54],"and":[55,90,105],"variance.":[56],"To":[57],"deal":[58],"measurement":[60],"noise,":[61],"propose":[63],"moment":[66],"consensus":[67],"algorithm":[68],"(GMCA)":[69],"Kalman":[71],"filter":[72],"(KF),":[73],"allowing":[74],"each":[75],"to":[77,114,169],"estimate":[78,101],"GMs.":[80,108],"Besides,":[81],"prove":[83],"convergence":[85],"GMCA":[89,181],"derive":[91],"an":[92,99],"upper":[93,110],"bound":[94,111],"error":[97,144],"between":[98],"agent's":[100],"GMs":[104],"actual":[107],"This":[109],"is":[112,167,182],"derived":[113],"be":[115],"dependent":[116],"on":[117,141],"maximal":[119],"allowed":[120],"velocity":[121],"but":[122],"independent":[123],"agents'":[126],"exact":[127],"motion.":[128],"A":[129],"set":[130],"rules":[134],"are":[138],"proposed":[139],"based":[140],"estimation":[143],"bound.":[145],"As":[146],"result,":[148],"agents":[150],"satisfaction":[154],"over":[158],"during":[161],"execution.":[162],"The":[163],"applied":[168],"supply":[171],"transportation":[172],"example,":[173],"where":[174],"efficacy":[176],"KF":[178],"also":[183],"shown.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-02T08:42:23.175194","created_date":"2022-07-16T00:00:00"}
