{"id":"https://openalex.org/W4403977068","doi":"https://doi.org/10.1109/lra.2024.3490407","title":"Flexible Affine Formation Control Based on Dynamic Hierarchical Reorganization","display_name":"Flexible Affine Formation Control Based on Dynamic Hierarchical Reorganization","publication_year":2024,"publication_date":"2024-11-01","ids":{"openalex":"https://openalex.org/W4403977068","doi":"https://doi.org/10.1109/lra.2024.3490407"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3490407","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3490407","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5100692339","display_name":"Yuzhu Li","orcid":"https://orcid.org/0000-0001-8065-2364"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuzhu Li","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-8065-2364","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068198508","display_name":"Wei Dong","orcid":"https://orcid.org/0000-0003-2640-1585"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Dong","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-2640-1585","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.972,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.79972859,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"9","issue":"12","first_page":"11290","last_page":"11297"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9732999801635742,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9732999801635742,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.9531000256538391,"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/affine-transformation","display_name":"Affine transformation","score":0.5782997608184814},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5169024467468262},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46026331186294556},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2637943923473358},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17242440581321716}],"concepts":[{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.5782997608184814},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5169024467468262},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46026331186294556},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2637943923473358},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17242440581321716},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3490407","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3490407","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":[{"score":0.49000000953674316,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G2722971420","display_name":null,"funder_award_id":"22QA1404400","funder_id":"https://openalex.org/F4320327803","funder_display_name":"Shanghai Rising-Star Program"},{"id":"https://openalex.org/G7899649077","display_name":null,"funder_award_id":"51975348","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"},{"id":"https://openalex.org/F4320327803","display_name":"Shanghai Rising-Star Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1539157773","https://openalex.org/W1981826826","https://openalex.org/W2000631868","https://openalex.org/W2012812921","https://openalex.org/W2027524385","https://openalex.org/W2042733674","https://openalex.org/W2049967695","https://openalex.org/W2095877777","https://openalex.org/W2151951367","https://openalex.org/W2284528872","https://openalex.org/W2343580824","https://openalex.org/W2504196352","https://openalex.org/W2775565124","https://openalex.org/W2787958879","https://openalex.org/W2968040509","https://openalex.org/W3005059110","https://openalex.org/W3031161993","https://openalex.org/W3110363133","https://openalex.org/W3127238611","https://openalex.org/W3185416958","https://openalex.org/W4205642896","https://openalex.org/W4210443557","https://openalex.org/W4229007520","https://openalex.org/W4285115265","https://openalex.org/W4403977068"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Current":[0],"formations":[1,184],"commonly":[2],"rely":[3],"on":[4],"invariant":[5],"hierarchical":[6,41,118,149,186],"structures,":[7],"such":[8,126,161],"as":[9,127,162],"predetermined":[10],"leaders":[11],"or":[12],"enumerated":[13],"formation":[14,110,153],"shapes.":[15],"These":[16,74],"structures":[17],"could":[18],"be":[19],"unidirectional":[20],"and":[21,26,55,68,80,99,130,155],"sluggish,":[22],"constraining":[23],"their":[24],"flexibility":[25,154],"agility":[27],"when":[28],"encountering":[29],"cluttered":[30],"environments.":[31],"To":[32],"surmount":[33],"these":[34],"constraints,":[35],"this":[36],"work":[37],"proposes":[38],"a":[39,62,69],"dynamic":[40,117],"reorganization":[42,150],"approach":[43,50],"with":[44,93],"affine":[45],"formation.":[46],"Central":[47],"to":[48,88,138,183],"our":[49],"is":[51],"the":[52,86,94,103,106,121,145,166,170,174],"fluid":[53],"leadership":[54,65],"authority":[56],"redistribution,":[57],"for":[58],"which":[59],"we":[60],"develop":[61],"minimum":[63],"time-driven":[64],"evaluation":[66],"algorithm":[67],"power":[70,83],"transition":[71],"control":[72],"algorithm.":[73],"algorithms":[75],"facilitate":[76],"autonomous":[77],"leader":[78],"selection":[79],"ensure":[81],"smooth":[82],"transitions,":[84],"enabling":[85,120],"swarm":[87],"adapt":[89],"hierarchically":[90],"in":[91,151,165],"alignment":[92],"external":[95],"environment.":[96],"Extensive":[97],"simulations":[98],"real-world":[100,168],"experiments":[101],"validate":[102],"effectiveness":[104],"of":[105,111,123,136,148],"proposed":[107,171],"method.":[108],"The":[109],"five":[112],"aerial":[113],"robots":[114],"successfully":[115],"performs":[116],"reorganizations,":[119],"execution":[122],"complex":[124,159],"tasks":[125],"swerving":[128],"maneuvers":[129,160],"navigating":[131],"through":[132],"hoops":[133],"at":[134,179],"velocities":[135],"up":[137],"1.05m/s.":[139],"Comparative":[140],"experimental":[141],"results":[142],"further":[143],"demonstrate":[144],"significant":[146],"advantages":[147],"enhancing":[152],"agility,":[156],"particularly":[157],"during":[158],"U-turns.":[163],"Notably,":[164],"aforementioned":[167],"experiments,":[169],"method":[172],"reduces":[173],"flight":[175],"path":[176],"length":[177],"by":[178],"least":[180],"33.8%":[181],"compared":[182],"without":[185],"reorganization.":[187]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}