{"id":"https://openalex.org/W2149304921","doi":"https://doi.org/10.1109/robio.2009.4913295","title":"A control allocation approach for energetic swarm control of wheeled mobile robots","display_name":"A control allocation approach for energetic swarm control of wheeled mobile robots","publication_year":2009,"publication_date":"2009-02-01","ids":{"openalex":"https://openalex.org/W2149304921","doi":"https://doi.org/10.1109/robio.2009.4913295","mag":"2149304921"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.4913295","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913295","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/A5085202608","display_name":"Reza Pedrami","orcid":null},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"R. Pedrami","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QUE, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5098258361","display_name":"W. Sivaram","orcid":null},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"W. Sivaram","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QUE, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076978450","display_name":"Jamie Baxter","orcid":"https://orcid.org/0000-0003-3410-0969"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"J. Baxter","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QUE, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073610530","display_name":"Brandon W. Gordon","orcid":null},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"B.W. Gordon","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QUE, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I60158472"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5085202608"],"corresponding_institution_ids":["https://openalex.org/I60158472"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12370741,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1924","last_page":"1931"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"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":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.7192089557647705},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6952590346336365},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.6361628770828247},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6014621257781982},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5753925442695618},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5458120107650757},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.537290096282959},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.5129380226135254},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4549235701560974},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4472179114818573},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31124937534332275},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27337658405303955},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1168825626373291},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.0650007426738739}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.7192089557647705},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6952590346336365},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.6361628770828247},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6014621257781982},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5753925442695618},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5458120107650757},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.537290096282959},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.5129380226135254},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4549235701560974},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4472179114818573},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31124937534332275},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27337658405303955},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1168825626373291},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0650007426738739},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.4913295","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913295","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":[{"display_name":"Affordable and clean energy","score":0.8999999761581421,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W94944938","https://openalex.org/W2019258694","https://openalex.org/W2118328150","https://openalex.org/W2118503551","https://openalex.org/W2122561468","https://openalex.org/W2124197222","https://openalex.org/W2130648700","https://openalex.org/W2132984198","https://openalex.org/W2135169928","https://openalex.org/W2150457480","https://openalex.org/W2168285891","https://openalex.org/W2171888714"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W65954170","https://openalex.org/W1988876749","https://openalex.org/W2518382144","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166","https://openalex.org/W2787547275","https://openalex.org/W1600534566"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"an":[3],"energetic":[4,104],"swarm":[5,12,14,18,84,105],"controller":[6,65],"is":[7,25,42,71,94],"developed":[8,72],"that":[9],"controls":[10],"the":[11,34,50,77,82,98],"temperature,":[13],"centre":[15],"position,":[16],"and":[17,118],"potential":[19],"energy.":[20],"A":[21],"sliding":[22],"control":[23,29,36,39],"approach":[24],"combined":[26],"with":[27,56,116],"a":[28,61,88],"allocation":[30,40],"process":[31],"to":[32,53,75,87,96,107],"solve":[33],"overactuated":[35],"problem.":[37],"The":[38],"problem":[41,52],"solved":[43,55],"using":[44],"nonlinear":[45],"programming":[46],"software":[47],"which":[48],"allows":[49],"optimization":[51],"be":[54,108],"input":[57,119],"saturation":[58,120],"constraints.":[59,121],"Furthermore,":[60],"low":[62],"level":[63],"trajectory":[64,78],"based":[66],"on":[67,110],"dynamic":[68],"feedback":[69],"linearization":[70],"in":[73],"order":[74],"improve":[76],"tracking":[79],"performance":[80],"of":[81,90],"individual":[83],"members.":[85],"Application":[86],"group":[89],"wheeled":[91,111],"mobile":[92,112],"robots":[93],"used":[95],"demonstrate":[97],"approach.":[99],"Together,":[100],"these":[101],"results":[102],"allow":[103],"controllers":[106],"implemented":[109],"robot":[113],"(WMR)":[114],"systems":[115],"uncertainty":[117]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}