{"id":"https://openalex.org/W4390591102","doi":"https://doi.org/10.1109/lra.2024.3349926","title":"Mean-Shift Shape Formation of Multi-Robot Systems Without Target Assignment","display_name":"Mean-Shift Shape Formation of Multi-Robot Systems Without Target Assignment","publication_year":2024,"publication_date":"2024-01-04","ids":{"openalex":"https://openalex.org/W4390591102","doi":"https://doi.org/10.1109/lra.2024.3349926"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3349926","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3349926","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/A5101946571","display_name":"Yunjie Zhang","orcid":"https://orcid.org/0009-0008-9902-2125"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yunjie Zhang","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101510785","display_name":"Rui Zhou","orcid":"https://orcid.org/0000-0003-2476-1130"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Zhou","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100358649","display_name":"Xing Li","orcid":"https://orcid.org/0000-0001-8912-5990"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xing Li","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054378059","display_name":"Guibin Sun","orcid":"https://orcid.org/0000-0002-8729-2856"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guibin Sun","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101946571"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":1.1232,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.7214273,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"9","issue":"2","first_page":"1772","last_page":"1779"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9993000030517578,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9947999715805054,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.972599983215332,"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/robot","display_name":"Robot","score":0.5612835884094238},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4642418622970581},{"id":"https://openalex.org/keywords/mean-shift","display_name":"Mean-shift","score":0.4599425494670868},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3833308219909668},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32013139128685},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.10514894127845764}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5612835884094238},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4642418622970581},{"id":"https://openalex.org/C48548287","wikidata":"https://www.wikidata.org/wiki/Q6803557","display_name":"Mean-shift","level":3,"score":0.4599425494670868},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3833308219909668},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32013139128685},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.10514894127845764}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3349926","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3349926","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/W1549280300","https://openalex.org/W1629051378","https://openalex.org/W1964462572","https://openalex.org/W2014192044","https://openalex.org/W2030775133","https://openalex.org/W2031436371","https://openalex.org/W2052405405","https://openalex.org/W2118331730","https://openalex.org/W2121672206","https://openalex.org/W2122752955","https://openalex.org/W2123055356","https://openalex.org/W2135132740","https://openalex.org/W2164500538","https://openalex.org/W2209009377","https://openalex.org/W2259942851","https://openalex.org/W2567990716","https://openalex.org/W2755238136","https://openalex.org/W2890069560","https://openalex.org/W2896809075","https://openalex.org/W2897219427","https://openalex.org/W2985221364","https://openalex.org/W3008404222","https://openalex.org/W3037099908","https://openalex.org/W3129162071","https://openalex.org/W3131448887","https://openalex.org/W3142658448","https://openalex.org/W4285163821","https://openalex.org/W4285173908","https://openalex.org/W4285233502","https://openalex.org/W4375801441","https://openalex.org/W4380576974","https://openalex.org/W6632662516","https://openalex.org/W6680115412"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"The":[0,21,49],"methods":[1,65],"of":[2,106,114,123,133,141,152],"shape":[3,85],"formation":[4,86],"in":[5,46,96],"robot":[6,129,166],"swarms":[7],"are":[8],"usually":[9],"classified":[10],"into":[11],"two":[12],"categories":[13],"by":[14],"whether":[15],"assignment":[16,27],"is":[17,23,38,55,100,117],"used":[18],"or":[19],"not.":[20],"first":[22],"to":[24,28,40,56,60,81,120,138],"use":[25,57],"target":[26,94,125,135],"assemble":[29,61],"precise":[30,70,84,186],"formation.":[31,71],"However,":[32],"the":[33,69,83,89,107,111,121,124,131,134,139,150,156,169,195,204],"additional":[34],"algorithm":[35,80,183,206],"for":[36,210],"re-assignment":[37],"required":[39],"handle":[41],"unreasonable":[42],"situations,":[43],"which":[44],"results":[45,179,201],"lower":[47],"efficiency.":[48],"second,":[50],"also":[51,148],"called":[52],"assignment-free":[53,79],"method,":[54],"local":[58],"behaviors":[59],"formation,":[62],"however,":[63],"existing":[64],"can":[66,167,184],"rarely":[67],"achieve":[68,82],"In":[72],"this":[73,145],"letter,":[74],"we":[75],"present":[76],"a":[77,104],"distributed":[78],"based":[87],"on":[88],"mean-shift":[90,108,171],"algorithm.":[91],"Specifically,":[92],"each":[93,115,128,165],"location":[95,136],"robot's":[97],"perception":[98],"range":[99],"equally":[101],"regarded":[102],"as":[103,173],"point":[105,116],"vector.":[109],"Then,":[110],"weight":[112],"value":[113],"computed":[118],"according":[119,137],"density":[122,132,146],"location.":[126],"Here,":[127],"obtains":[130],"distribution":[140],"its":[142,174],"neighbors.":[143],"Moreover,":[144],"calculation":[147],"considers":[149],"states":[151],"non-neighboring":[153],"robots":[154],"via":[155],"hop-count":[157],"algorithm,":[158],"thus":[159],"avoiding":[160],"conflicts":[161],"among":[162],"robots.":[163],"Subsequently,":[164],"regard":[168],"calculated":[170],"vector":[172],"control":[175],"command.":[176],"Finally,":[177],"simulation":[178],"show":[180],"that":[181,203],"our":[182],"form":[185],"shapes":[187],"at":[188],"least":[189],"8":[190],"times":[191],"more":[192],"efficient":[193],"than":[194],"assignment-based":[196],"approach":[197],"and":[198],"physical":[199],"experiment":[200],"confirm":[202],"proposed":[205],"exhibits":[207],"promising":[208],"potential":[209],"practical":[211],"applications.":[212]},"counts_by_year":[{"year":2025,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
