{"id":"https://openalex.org/W3013359027","doi":"https://doi.org/10.1109/rcar47638.2019.9044101","title":"Layered Formation Control for Multi-Quadrotors","display_name":"Layered Formation Control for Multi-Quadrotors","publication_year":2019,"publication_date":"2019-08-01","ids":{"openalex":"https://openalex.org/W3013359027","doi":"https://doi.org/10.1109/rcar47638.2019.9044101","mag":"3013359027"},"language":"en","primary_location":{"id":"doi:10.1109/rcar47638.2019.9044101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar47638.2019.9044101","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5101502470","display_name":"Dawei Shen","orcid":"https://orcid.org/0000-0003-4607-4980"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dawei Shen","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China","School of Automation, Hangzhou Dianzi University,Hangzhou,China,310018"],"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University,Hangzhou,China,310018","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037748023","display_name":"Qiang Lu","orcid":"https://orcid.org/0000-0002-1586-5598"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Lu","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China","School of Automation, Hangzhou Dianzi University,Hangzhou,China,310018"],"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University,Hangzhou,China,310018","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101958162","display_name":"Xiaogao Xie","orcid":"https://orcid.org/0000-0003-3466-3841"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaogao Xie","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China","School of Automation, Hangzhou Dianzi University,Hangzhou,China,310018"],"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University,Hangzhou,China,310018","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100632535","display_name":"Jian Wang","orcid":"https://orcid.org/0000-0002-4593-5809"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Wang","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China","School of Automation, Hangzhou Dianzi University,Hangzhou,China,310018"],"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University,Hangzhou,China,310018","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017346395","display_name":"Hongxia Ni","orcid":"https://orcid.org/0009-0009-3519-024X"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongxia Ni","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China","School of Automation, Hangzhou Dianzi University,Hangzhou,China,310018"],"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University,Hangzhou,China,310018","institution_ids":["https://openalex.org/I50760025"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101502470"],"corresponding_institution_ids":["https://openalex.org/I50760025"],"apc_list":null,"apc_paid":null,"fwci":0.3537,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.66058985,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"25","issue":null,"first_page":"638","last_page":"643"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9975000023841858,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9957000017166138,"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/position","display_name":"Position (finance)","score":0.7444841861724854},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6483967304229736},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6402332782745361},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6294518709182739},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6013503074645996},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5078681111335754},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42289280891418457},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.4174268841743469},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25237271189689636},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.246369868516922}],"concepts":[{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.7444841861724854},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6483967304229736},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6402332782745361},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6294518709182739},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6013503074645996},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5078681111335754},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42289280891418457},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.4174268841743469},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25237271189689636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.246369868516922},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar47638.2019.9044101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar47638.2019.9044101","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1499913502","https://openalex.org/W1526934046","https://openalex.org/W1548788192","https://openalex.org/W1975541135","https://openalex.org/W1986302906","https://openalex.org/W2035625658","https://openalex.org/W2064460517","https://openalex.org/W2092011920","https://openalex.org/W2095396075","https://openalex.org/W2166833517","https://openalex.org/W2278520988","https://openalex.org/W2342166106","https://openalex.org/W2342740524","https://openalex.org/W2343497731","https://openalex.org/W2509792696","https://openalex.org/W2511341707","https://openalex.org/W2622287508","https://openalex.org/W2779675674","https://openalex.org/W2781649869","https://openalex.org/W2900931536","https://openalex.org/W6659568400","https://openalex.org/W6674346099","https://openalex.org/W6684294107","https://openalex.org/W6746977722"],"related_works":["https://openalex.org/W2084086966","https://openalex.org/W3000714840","https://openalex.org/W4294974825","https://openalex.org/W4361829742","https://openalex.org/W2943580202","https://openalex.org/W2967400911","https://openalex.org/W4241017176","https://openalex.org/W2023861399","https://openalex.org/W4283766644","https://openalex.org/W2000675896"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,33,37,45,50,72,76,80,84,99,102,140,143],"formation":[4,15,47,105,128],"control":[5,16,27,66,90,106,110,115,145],"problem":[6],"for":[7],"leader-follower":[8],"multi-quadrotors":[9],"systems":[10],"by":[11],"developing":[12],"a":[13,25,64,108,113,122],"layered":[14,104],"architecture,":[17,107],"which":[18,119],"has":[19],"two":[20],"level.":[21],"In":[22],"first":[23],"level,":[24,63],"coordinating":[26,109],"algorithm":[28,67,91,111,116],"is":[29,68,117],"designed":[30,69],"to":[31,70,138],"obtain":[32],"virtual":[34,38,46,51,81,85],"position":[35,74,82,93],"and":[36,49,75,83,95,112,130],"velocity":[39,52,78],"of":[40,101,124,142],"every":[41],"quadrotor":[42],"such":[43],"that":[44],"shape":[48,129],"consensus":[53],"can":[54,120],"be":[55],"given":[56],"in":[57,61],"finite":[58],"time.":[59],"And":[60],"second":[62],"tracking":[65,89,114],"make":[71],"real":[73,77],"track":[79],"velocity,":[86],"respectively.":[87],"The":[88],"includes":[92],"controller":[94],"attitude":[96],"controller.":[97],"On":[98],"basis":[100],"proposed":[103,144],"given,":[118],"enable":[121],"number":[123],"quadrotors":[125],"reach":[126],"desired":[127],"volocity":[131],"consensus.":[132],"Finally,":[133],"simulations":[134],"are":[135],"carried":[136],"out":[137],"manifest":[139],"effectiveness":[141],"architecture.":[146]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}