{"id":"https://openalex.org/W7135182476","doi":"https://doi.org/10.1109/lra.2026.3673985","title":"Distributed Lloyd-Based Algorithm for Uncertainty-Aware Multi-Robot Under-Canopy Flocking","display_name":"Distributed Lloyd-Based Algorithm for Uncertainty-Aware Multi-Robot Under-Canopy Flocking","publication_year":2026,"publication_date":"2026-03-13","ids":{"openalex":"https://openalex.org/W7135182476","doi":"https://doi.org/10.1109/lra.2026.3673985"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3673985","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3673985","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/lra.2026.3673985","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001689106","display_name":"Manuel Boldrer","orcid":"https://orcid.org/0000-0002-7534-5762"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Manuel Boldrer","raw_affiliation_strings":["Department of Cybernetics, Czech Technical University in Prague, Karlovo namesti 13, Prague, Czechia"],"raw_orcid":"https://orcid.org/0000-0002-7534-5762","affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Czech Technical University in Prague, Karlovo namesti 13, Prague, Czechia","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075195189","display_name":"V\u00edt Kr\u00e1tk\u00fd","orcid":"https://orcid.org/0000-0002-1914-742X"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"V\u00edt Kr\u00e1tk\u00fd","raw_affiliation_strings":["Department of Cybernetics, Czech Technical University in Prague, Karlovo namesti 13, Prague, Czechia"],"raw_orcid":"https://orcid.org/0000-0002-1914-742X","affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Czech Technical University in Prague, Karlovo namesti 13, Prague, Czechia","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074021830","display_name":"Viktor Walter","orcid":"https://orcid.org/0000-0001-8693-6261"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Viktor Walter","raw_affiliation_strings":["Department of Cybernetics, Czech Technical University in Prague, Karlovo namesti 13, Prague, Czechia"],"raw_orcid":"https://orcid.org/0000-0001-8693-6261","affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Czech Technical University in Prague, Karlovo namesti 13, Prague, Czechia","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5129327091","display_name":"Martin Saska","orcid":null},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Martin Saska","raw_affiliation_strings":["Department of Cybernetics, Czech Technical University in Prague, Karlovo namesti 13, Prague, Czechia"],"raw_orcid":"https://orcid.org/0000-0001-7106-3816","affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Czech Technical University in Prague, Karlovo namesti 13, Prague, Czechia","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.29107981,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"5","first_page":"5526","last_page":"5533"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9469000101089478,"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":0.9469000101089478,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.008899999782443047,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T12321","display_name":"Insect Pheromone Research and Control","score":0.006099999882280827,"subfield":{"id":"https://openalex.org/subfields/1109","display_name":"Insect Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/flocking","display_name":"Flocking (texture)","score":0.34880000352859497},{"id":"https://openalex.org/keywords/algorithm-design","display_name":"Algorithm design","score":0.28690001368522644},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.26080000400543213},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.23070000112056732},{"id":"https://openalex.org/keywords/efficient-algorithm","display_name":"Efficient algorithm","score":0.22990000247955322}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5497000217437744},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5432999730110168},{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.34880000352859497},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32100000977516174},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.28690001368522644},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2703000009059906},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.26080000400543213},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.23070000112056732},{"id":"https://openalex.org/C3018263672","wikidata":"https://www.wikidata.org/wiki/Q1296251","display_name":"Efficient algorithm","level":2,"score":0.22990000247955322},{"id":"https://openalex.org/C130120984","wikidata":"https://www.wikidata.org/wiki/Q2835898","display_name":"Distributed algorithm","level":2,"score":0.2289000004529953}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3673985","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3673985","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2026.3673985","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3673985","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321006","display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky","ror":"https://ror.org/01pv73b02"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1929171560","https://openalex.org/W1965843508","https://openalex.org/W2029259235","https://openalex.org/W2130403883","https://openalex.org/W2150593711","https://openalex.org/W2167485994","https://openalex.org/W2171541671","https://openalex.org/W2529941186","https://openalex.org/W2884236119","https://openalex.org/W2916187293","https://openalex.org/W3077668761","https://openalex.org/W3088692394","https://openalex.org/W3096470617","https://openalex.org/W3118665117","https://openalex.org/W3130529439","https://openalex.org/W3132906235","https://openalex.org/W3183413118","https://openalex.org/W3207644545","https://openalex.org/W4210521410","https://openalex.org/W4229007520","https://openalex.org/W4286636789","https://openalex.org/W4304112899","https://openalex.org/W4312697252","https://openalex.org/W4383109358","https://openalex.org/W4384519309","https://openalex.org/W4400064668","https://openalex.org/W4400678990","https://openalex.org/W4405800357","https://openalex.org/W4408019580"],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"we":[3],"present":[4],"a":[5,22,52,57,108],"distributed":[6],"algorithm":[7,91],"for":[8],"flocking":[9],"in":[10,76,107],"complex":[11],"environments":[12],"that":[13],"operates":[14],"at":[15],"constant":[16],"altitude,":[17],"without":[18,50],"explicit":[19],"communication,":[20],"no":[21],"priori":[23],"information":[24],"about":[25],"the":[26,68],"environment,":[27],"and":[28,34,47,79,86,101],"by":[29],"using":[30],"only":[31],"on-board":[32,87],"sensing":[33,88],"computation":[35],"capabilities.":[36],"We":[37],"provide":[38],"sufficient":[39],"conditions":[40],"to":[41,74,80,113],"guarantee":[42],"collision":[43],"avoidance":[44],"with":[45,83,96],"obstacles":[46],"other":[48],"robots":[49],"exceeding":[51],"desired":[53],"maximum":[54],"distance":[55],"from":[56],"predefined":[58],"set":[59],"of":[60,99],"neighbors":[61],"(flocking":[62],"or":[63],"proximity":[64],"maintenance":[65],"constraint)":[66],"during":[67],"mission.":[69],"The":[70,90],"proposed":[71],"approach":[72],"allows":[73],"operate":[75],"crowded":[77],"scenarios":[78],"explicitly":[81],"deal":[82],"tracking":[84],"errors":[85],"errors.":[89],"was":[92],"verified":[93],"through":[94,103],"simulations":[95],"varying":[97],"number":[98],"UAVs":[100],"also":[102],"numerous":[104],"real-world":[105],"experiments":[106],"dense":[109],"forest":[110],"involving":[111],"up":[112],"four":[114],"UAVs.":[115]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2026-03-04T00:00:00"}