{"id":"https://openalex.org/W2588162001","doi":"https://doi.org/10.1109/mfi.2016.7849502","title":"Distributed formation control for autonomous robots following desired shapes in noisy environment","display_name":"Distributed formation control for autonomous robots following desired shapes in noisy environment","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2588162001","doi":"https://doi.org/10.1109/mfi.2016.7849502","mag":"2588162001"},"language":"en","primary_location":{"id":"doi:10.1109/mfi.2016.7849502","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2016.7849502","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","raw_type":"proceedings-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/A5053435242","display_name":"Anh Duc Dang","orcid":"https://orcid.org/0000-0002-2380-2431"},"institutions":[{"id":"https://openalex.org/I190134885","display_name":"Helmut Schmidt University","ror":"https://ror.org/04e8jbs38","country_code":"DE","type":"education","lineage":["https://openalex.org/I190134885"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Anh Duc Dang","raw_affiliation_strings":["Institute of Control Engineering, Helmut-Schmidt-University/University of the Federal Armed Forces Hamburg, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Control Engineering, Helmut-Schmidt-University/University of the Federal Armed Forces Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I190134885"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060555317","display_name":"Hung Manh La","orcid":"https://orcid.org/0000-0003-2183-2634"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hung Manh La","raw_affiliation_strings":["Department of computer Science and Engineering, University of Nevada, Reno, NV, USA"],"affiliations":[{"raw_affiliation_string":"Department of computer Science and Engineering, University of Nevada, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111918947","display_name":"Joachim Horn","orcid":null},"institutions":[{"id":"https://openalex.org/I190134885","display_name":"Helmut Schmidt University","ror":"https://ror.org/04e8jbs38","country_code":"DE","type":"education","lineage":["https://openalex.org/I190134885"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Joachim Horn","raw_affiliation_strings":["Institute of Control Engineering, Helmut-Schmidt-University/University of the Federal Armed Forces Hamburg, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Control Engineering, Helmut-Schmidt-University/University of the Federal Armed Forces Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I190134885"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5053435242"],"corresponding_institution_ids":["https://openalex.org/I190134885"],"apc_list":null,"apc_paid":null,"fwci":6.0803,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.96621503,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"285","last_page":"290"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9970999956130981,"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"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7403276562690735},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6697632074356079},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5964147448539734},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5963351130485535},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5874375104904175},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5789543390274048},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5600179433822632},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5269245505332947},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5114394426345825},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4997880458831787},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.46498650312423706},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.45747730135917664},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4240145981311798},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.36770302057266235},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2917669415473938},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2701631188392639},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16419938206672668},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.1569008231163025},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07018131017684937}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7403276562690735},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6697632074356079},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5964147448539734},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5963351130485535},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5874375104904175},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5789543390274048},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5600179433822632},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5269245505332947},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5114394426345825},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4997880458831787},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.46498650312423706},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.45747730135917664},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4240145981311798},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.36770302057266235},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2917669415473938},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2701631188392639},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16419938206672668},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.1569008231163025},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07018131017684937},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mfi.2016.7849502","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2016.7849502","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1494592622","https://openalex.org/W1979432817","https://openalex.org/W1986614301","https://openalex.org/W1992675343","https://openalex.org/W2014556603","https://openalex.org/W2043698158","https://openalex.org/W2063011812","https://openalex.org/W2078504867","https://openalex.org/W2082733601","https://openalex.org/W2089108971","https://openalex.org/W2106140000","https://openalex.org/W2115033790","https://openalex.org/W2136580610","https://openalex.org/W2137313981","https://openalex.org/W2147288268","https://openalex.org/W2161045666","https://openalex.org/W2333882686","https://openalex.org/W2974918616","https://openalex.org/W6633550006","https://openalex.org/W6671641798","https://openalex.org/W6679859837","https://openalex.org/W6681926203"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"In":[0,33],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,22,83],"novel":[6],"and":[7,30,90,105,109,116],"distributed":[8],"formation":[9,19],"control":[10],"method":[11],"for":[12],"autonomous":[13,52],"robots":[14,53],"to":[15,64,66,103,125],"follow":[16],"the":[17,28,36,41,57,77,101,107,127,130],"desired":[18,37],"while":[20],"tracking":[21],"moving":[23],"target":[24],"under":[25],"influence":[26],"of":[27,86,129],"dynamic":[29],"noisy":[31],"environments.":[32],"our":[34],"approach,":[35],"formations,":[38],"which":[39],"include":[40],"virtual":[42,68],"nodes":[43,69],"arranged":[44],"into":[45],"specific":[46],"shapes,":[47],"are":[48,54,123],"first":[49],"generated.":[50],"Then,":[51],"controlled":[55],"by":[56],"proposed":[58,131],"artificial":[59],"force":[60,88,92],"fields":[61],"in":[62,94],"order":[63],"converge":[65],"these":[67],"without":[70],"collisions.":[71],"The":[72,114],"stability":[73],"analysis":[74],"based":[75],"on":[76],"Lyapunov":[78],"approach":[79],"is":[80],"given.":[81],"Moreover,":[82],"new":[84],"combination":[85],"rotational":[87],"field":[89,93],"repulsive":[91],"designing":[95],"an":[96],"obstacle":[97,112],"avoidance":[98],"controller":[99],"allows":[100],"robot":[102],"avoid":[104],"escape":[106],"convex":[108,111],"non":[110],"shapes.":[113],"V-shape":[115],"circular":[117],"shape":[118],"formations":[119],"with":[120],"their":[121],"advantages":[122],"utilized":[124],"test":[126],"effectiveness":[128],"method.":[132]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":6}],"updated_date":"2025-11-08T23:21:52.890332","created_date":"2025-10-10T00:00:00"}
