{"id":"https://openalex.org/W2152482140","doi":"https://doi.org/10.1109/robio.2009.4913293","title":"Error characterization in the vicinity of singularities in multi-robot cluster space control","display_name":"Error characterization in the vicinity of singularities in multi-robot cluster space control","publication_year":2009,"publication_date":"2009-02-01","ids":{"openalex":"https://openalex.org/W2152482140","doi":"https://doi.org/10.1109/robio.2009.4913293","mag":"2152482140"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.4913293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913293","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","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/A5091340493","display_name":"Ignacio Mas","orcid":"https://orcid.org/0000-0001-5037-2572"},"institutions":[{"id":"https://openalex.org/I16269868","display_name":"Santa Clara University","ror":"https://ror.org/03ypqe447","country_code":"US","type":"education","lineage":["https://openalex.org/I16269868"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"I. Mas","raw_affiliation_strings":["Robotic Systems Laboratory, Santa Clara University, Santa Clara, CA, USA"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Laboratory, Santa Clara University, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I16269868"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010026731","display_name":"Jose Acain","orcid":null},"institutions":[{"id":"https://openalex.org/I16269868","display_name":"Santa Clara University","ror":"https://ror.org/03ypqe447","country_code":"US","type":"education","lineage":["https://openalex.org/I16269868"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Acain","raw_affiliation_strings":["Robotic Systems Laboratory, Santa Clara University, Santa Clara, CA, USA"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Laboratory, Santa Clara University, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I16269868"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031432572","display_name":"Ognjen Petrovic","orcid":null},"institutions":[{"id":"https://openalex.org/I16269868","display_name":"Santa Clara University","ror":"https://ror.org/03ypqe447","country_code":"US","type":"education","lineage":["https://openalex.org/I16269868"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"O. Petrovic","raw_affiliation_strings":["Robotic Systems Laboratory, Santa Clara University, Santa Clara, CA, USA"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Laboratory, Santa Clara University, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I16269868"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007901785","display_name":"Christopher Kitts","orcid":"https://orcid.org/0000-0001-8078-9360"},"institutions":[{"id":"https://openalex.org/I16269868","display_name":"Santa Clara University","ror":"https://ror.org/03ypqe447","country_code":"US","type":"education","lineage":["https://openalex.org/I16269868"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Kitts","raw_affiliation_strings":["Robotic Systems Laboratory, Santa Clara University, Santa Clara, CA, USA"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Laboratory, Santa Clara University, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I16269868"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5091340493"],"corresponding_institution_ids":["https://openalex.org/I16269868"],"apc_list":null,"apc_paid":null,"fwci":1.5564,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.83196972,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1911","last_page":"1917"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9890999794006348,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9731000065803528,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6615477800369263},{"id":"https://openalex.org/keywords/cluster","display_name":"Cluster (spacecraft)","score":0.5733103156089783},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5647781491279602},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5609670281410217},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.5563240051269531},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4574304521083832},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.44637757539749146},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.44396013021469116},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4411693215370178},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4378812611103058},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37308743596076965},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27366670966148376},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20987612009048462},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.183474600315094},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12339666485786438},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10921001434326172}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6615477800369263},{"id":"https://openalex.org/C164866538","wikidata":"https://www.wikidata.org/wiki/Q367351","display_name":"Cluster (spacecraft)","level":2,"score":0.5733103156089783},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5647781491279602},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5609670281410217},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.5563240051269531},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4574304521083832},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.44637757539749146},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.44396013021469116},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4411693215370178},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4378812611103058},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37308743596076965},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27366670966148376},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20987612009048462},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.183474600315094},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12339666485786438},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10921001434326172},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied 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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.4913293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913293","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","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":12,"referenced_works":["https://openalex.org/W1527733862","https://openalex.org/W1580992231","https://openalex.org/W1964844332","https://openalex.org/W1978197688","https://openalex.org/W2087603427","https://openalex.org/W2146050267","https://openalex.org/W2146475250","https://openalex.org/W2150379869","https://openalex.org/W2162254977","https://openalex.org/W2171472775","https://openalex.org/W4213122800","https://openalex.org/W6634778657"],"related_works":["https://openalex.org/W2135044092","https://openalex.org/W2099329708","https://openalex.org/W1886477626","https://openalex.org/W1554233026","https://openalex.org/W2762381663","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762"],"abstract_inverted_index":{"The":[0,114],"cluster":[1,61,79,87,97,115,128],"space":[2,62,77,80,116],"control":[3,51,91],"technique":[4],"promotes":[5],"simplified":[6],"specification":[7],"and":[8,30,34,41,64,71,83,90],"monitoring":[9],"of":[10,13,17,27,75,96],"the":[11,24,60,73,107],"motion":[12],"mobile":[14],"multi-robot":[15],"systems":[16],"limited":[18],"size.":[19],"Previous":[20],"work":[21],"has":[22,31],"established":[23],"conceptual":[25],"foundation":[26],"this":[28,56],"approach":[29],"experimentally":[32],"verified":[33,110],"validated":[35],"its":[36,65,84],"use":[37],"for":[38,126],"2-robot,":[39],"3-robot":[40,69,104],"4-robot":[42],"systems,":[43],"with":[44],"varying":[45],"implementations":[46],"ranging":[47],"from":[48],"automated":[49],"trajectory":[50],"to":[52,67,78],"human-in-the-loop":[53],"piloting.":[54],"In":[55],"publication,":[57],"we":[58],"review":[59],"framework":[63],"application":[66],"a":[68,103,124],"system":[70,105],"present":[72],"problem":[74],"robot":[76],"error":[81,99],"propagation":[82],"impact":[85],"on":[86],"position":[88,98],"uncertainty":[89],"performance.":[92],"A":[93],"theoretical":[94],"formulation":[95],"is":[100,121],"presented.":[101],"Using":[102],"testbed,":[106],"results":[108],"are":[109],"through":[111],"experimental":[112],"measurements.":[113],"Jacobian":[117],"matrix":[118],"condition":[119],"number":[120],"proposed":[122],"as":[123],"metric":[125],"acceptable":[127],"configuration":[129],"errors.":[130]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
