{"id":"https://openalex.org/W1481061669","doi":"https://doi.org/10.1109/mra.2004.1371604","title":"Following the flock","display_name":"Following the flock","publication_year":2004,"publication_date":"2004-12-01","ids":{"openalex":"https://openalex.org/W1481061669","doi":"https://doi.org/10.1109/mra.2004.1371604","mag":"1481061669"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2004.1371604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2004.1371604","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 & Automation Magazine","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/A5011256828","display_name":"Ren\u00e8 Vidal","orcid":"https://orcid.org/0000-0003-1838-0761"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"R. Vidal","raw_affiliation_strings":["Biomedical Engineering, Center for Imaging Science, Johns Hopkins University, Baltimore, MD, USA","Center for Imaging Science, Johns Hopkins University Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Biomedical Engineering, Center for Imaging Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Center for Imaging Science, Johns Hopkins University Baltimore, MD, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039770495","display_name":"Omid Shakernia","orcid":null},"institutions":[{"id":"https://openalex.org/I2948394018","display_name":"Northrop Grumman (United States)","ror":"https://ror.org/05kewds18","country_code":"US","type":"company","lineage":["https://openalex.org/I2948394018"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"O. Shakernia","raw_affiliation_strings":["Northrop Grumman Corporation, developing autonomy algorithms for unmanned aerial vehicles","[Northrop Grumman Corporation, developing autonomy algorithms for unmanned aerial vehicles]"],"affiliations":[{"raw_affiliation_string":"Northrop Grumman Corporation, developing autonomy algorithms for unmanned aerial vehicles","institution_ids":["https://openalex.org/I2948394018"]},{"raw_affiliation_string":"[Northrop Grumman Corporation, developing autonomy algorithms for unmanned aerial vehicles]","institution_ids":["https://openalex.org/I2948394018"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103101043","display_name":"S. Shankar Sastry","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"S. Sastry","raw_affiliation_strings":["NEC"],"affiliations":[{"raw_affiliation_string":"NEC","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5011256828"],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":3.5529,"has_fulltext":false,"cited_by_count":92,"citation_normalized_percentile":{"value":0.93076863,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"11","issue":"4","first_page":"14","last_page":"20"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.998199999332428,"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/visual-servoing","display_name":"Visual servoing","score":0.7182785868644714},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6425792574882507},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5645976662635803},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.5565297603607178},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5431652665138245},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5262740850448608},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.5231664776802063},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5064727067947388},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49979448318481445},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4744763672351837},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46013015508651733},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4519684612751007},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4493081569671631},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4366098642349243},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.4134286046028137},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20339614152908325},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.1369708776473999}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.7182785868644714},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6425792574882507},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5645976662635803},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.5565297603607178},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5431652665138245},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5262740850448608},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.5231664776802063},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5064727067947388},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49979448318481445},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4744763672351837},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46013015508651733},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4519684612751007},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4493081569671631},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4366098642349243},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.4134286046028137},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20339614152908325},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.1369708776473999},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mra.2004.1371604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2004.1371604","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 & Automation Magazine","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1498813999","https://openalex.org/W1515575559","https://openalex.org/W1547511169","https://openalex.org/W1778911478","https://openalex.org/W2106129306","https://openalex.org/W2121324469","https://openalex.org/W2128574158","https://openalex.org/W2138004545","https://openalex.org/W2139369541","https://openalex.org/W2152170081","https://openalex.org/W2165413656"],"related_works":["https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2186140227","https://openalex.org/W2132535444","https://openalex.org/W2534185822","https://openalex.org/W2771027241","https://openalex.org/W2367651125","https://openalex.org/W2394227063","https://openalex.org/W1996201679","https://openalex.org/W2360433292"],"abstract_inverted_index":{"A":[0,58],"new":[1],"approach":[2,18],"to":[3,23,50],"formation":[4],"control":[5],"of":[6,27,45,73],"nonholonomic":[7],"mobile":[8],"robots":[9],"equipped":[10],"with":[11],"central":[12],"panoramic":[13],"cameras":[14],"is":[15],"presented.":[16],"The":[17,39],"uses":[19],"motion":[20],"segmentation":[21],"techniques":[22],"estimate":[24],"the":[25,46,74],"position":[26],"each":[28],"leader":[29],"and":[30,36],"omnidirectional":[31],"visual":[32],"servoing":[33],"for":[34],"tracking":[35,52],"collision":[37],"avoidance.":[38],"paper":[40],"showed":[41],"that":[42,63],"direct":[43],"feedback-linearization":[44],"leader-follower":[47],"dynamics":[48],"leads":[49],"asymptotic":[51],"but":[53,67],"suffers":[54],"from":[55],"degenerate":[56],"configurations.":[57],"nonlinear":[59],"controller":[60],"was":[61],"presented":[62],"avoids":[64],"such":[65],"singularities":[66],"can":[68],"only":[69],"guarantee":[70],"input-to-state":[71],"stability":[72],"formation.":[75]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":4},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":8}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}