{"id":"https://openalex.org/W4387623856","doi":"https://doi.org/10.1109/lra.2023.3324593","title":"Formation Reconfiguration Control With Collision Avoidance of Nonholonomic Mobile Robots","display_name":"Formation Reconfiguration Control With Collision Avoidance of Nonholonomic Mobile Robots","publication_year":2023,"publication_date":"2023-10-13","ids":{"openalex":"https://openalex.org/W4387623856","doi":"https://doi.org/10.1109/lra.2023.3324593"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3324593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3324593","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/A5080032179","display_name":"Seongchang Park","orcid":"https://orcid.org/0000-0001-8009-0365"},"institutions":[{"id":"https://openalex.org/I24541011","display_name":"Soonchunhyang University","ror":"https://ror.org/03qjsrb10","country_code":"KR","type":"education","lineage":["https://openalex.org/I24541011"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seongchang Park","raw_affiliation_strings":["Department of Future Convergence Technology, Soonchunhyang University, Asan, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-8009-0365","affiliations":[{"raw_affiliation_string":"Department of Future Convergence Technology, Soonchunhyang University, Asan, South Korea","institution_ids":["https://openalex.org/I24541011"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052277981","display_name":"Seung\u2010Mok Lee","orcid":"https://orcid.org/0000-0003-2197-1116"},"institutions":[{"id":"https://openalex.org/I24541011","display_name":"Soonchunhyang University","ror":"https://ror.org/03qjsrb10","country_code":"KR","type":"education","lineage":["https://openalex.org/I24541011"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seung-Mok Lee","raw_affiliation_strings":["Department of Smart Automobile, Soonchunhyang University, Asan, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-2197-1116","affiliations":[{"raw_affiliation_string":"Department of Smart Automobile, Soonchunhyang University, Asan, South Korea","institution_ids":["https://openalex.org/I24541011"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.7414,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.95410052,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"8","issue":"12","first_page":"7905","last_page":"7912"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.996399998664856,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9951000213623047,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.9170083999633789},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7988971471786499},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6848042011260986},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6631267070770264},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5876122117042542},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5712976455688477},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5705126523971558},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5001060962677002},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39183562994003296},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23115018010139465},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.17543378472328186},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14890074729919434}],"concepts":[{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.9170083999633789},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7988971471786499},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6848042011260986},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6631267070770264},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5876122117042542},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5712976455688477},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5705126523971558},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5001060962677002},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39183562994003296},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23115018010139465},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.17543378472328186},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14890074729919434},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3324593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3324593","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":26,"referenced_works":["https://openalex.org/W1471730750","https://openalex.org/W2031249287","https://openalex.org/W2105850748","https://openalex.org/W2144323544","https://openalex.org/W2343422466","https://openalex.org/W2744979297","https://openalex.org/W2801497431","https://openalex.org/W2802929790","https://openalex.org/W2912321781","https://openalex.org/W2955087651","https://openalex.org/W2963614628","https://openalex.org/W2981621706","https://openalex.org/W3045462839","https://openalex.org/W3103996405","https://openalex.org/W3131356433","https://openalex.org/W3136568468","https://openalex.org/W3160969861","https://openalex.org/W3172143820","https://openalex.org/W3217056046","https://openalex.org/W4210423514","https://openalex.org/W4285214494","https://openalex.org/W4310011176","https://openalex.org/W4312055486","https://openalex.org/W4312442679","https://openalex.org/W4312621873","https://openalex.org/W4320008682"],"related_works":["https://openalex.org/W2357657342","https://openalex.org/W2802540229","https://openalex.org/W2153432761","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3042530408","https://openalex.org/W2020829486","https://openalex.org/W2165574943","https://openalex.org/W2016451691"],"abstract_inverted_index":{"This":[0],"letter":[1],"proposes":[2],"a":[3,41,54,71],"global":[4,72,86,101],"optimization-based":[5,73,87],"formation":[6,36,76,88,110,168],"reconfiguration":[7,37,169],"control":[8,77,89],"method":[9,78,90,163],"for":[10,170],"multiple":[11,19,130,147,158],"nonholonomic":[12,171],"mobile":[13,20,148,159,172],"robots.":[14,47,149,160,173],"To":[15,65,113],"reconfigure":[16],"their":[17,26],"formation,":[18],"robots":[21],"need":[22],"to":[23,29,59,61,99,133,142],"move":[24],"from":[25],"initial":[27],"poses":[28],"specific":[30],"relative":[31],"poses.":[32],"However,":[33],"during":[34],"the":[35,62,100,108,115,118,165],"process,":[38],"there":[39],"is":[40,111,139],"high":[42],"risk":[43],"of":[44,117,144,167],"collision":[45,82],"between":[46],"Moreover,":[48],"each":[49],"robot":[50],"might":[51],"fall":[52],"into":[53],"local":[55,93],"optimum":[56],"and":[57,95,129],"fail":[58],"converge":[60],"desired":[63,109],"formation.":[64],"address":[66],"these":[67],"problems,":[68],"we":[69,121,151],"propose":[70],"model":[74],"predictive":[75],"that":[79,107,138,143],"can":[80],"guarantee":[81],"avoidance.":[83],"The":[84,161],"proposed":[85,119,162],"effectively":[91],"avoids":[92],"optima,":[94],"finds":[96],"solutions":[97],"close":[98],"optimal":[102],"solution":[103],"in":[104],"real-time,":[105],"ensuring":[106],"achieved.":[112],"verify":[114],"performance":[116],"method,":[120],"built":[122],"hardware-in-the-loop":[123],"(HIL)":[124],"simulation":[125,128],"using":[126,155],"physics":[127],"embedded":[131],"computers":[132],"establish":[134],"an":[135],"experimental":[136,153],"environment":[137],"closely":[140],"similar":[141],"real":[145],"physical":[146,157],"Furthermore,":[150],"conduct":[152],"verification":[154],"actual":[156],"demonstrates":[164],"effectiveness":[166]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}