{"id":"https://openalex.org/W2124058229","doi":"https://doi.org/10.1109/robio.2009.5420385","title":"Formation and obstacle-avoidance control for mobile swarm robots based on artificial potential field","display_name":"Formation and obstacle-avoidance control for mobile swarm robots based on artificial potential field","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2124058229","doi":"https://doi.org/10.1109/robio.2009.5420385","mag":"2124058229"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5076449883","display_name":"Ping Song","orcid":"https://orcid.org/0000-0003-1868-6517"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Song Ping","raw_affiliation_strings":["Intelligent Robotics Institute School of Aerospace Science and Engineering, Beijing Institute of Technology, Beijing, China","Intelligent Robotics Institute, School of Aerospace Science and Engineering, Beijing Institute of Technology, 5 South Zhongguancun Street, Haidian District Beijing 100081, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute School of Aerospace Science and Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Intelligent Robotics Institute, School of Aerospace Science and Engineering, Beijing Institute of Technology, 5 South Zhongguancun Street, Haidian District Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101988767","display_name":"Kejie Li","orcid":"https://orcid.org/0000-0001-8821-7762"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Kejie","raw_affiliation_strings":["Intelligent Robotics Institute,School of AeroSpace Science and Engineering, Beijing Institute of Technology, Beijing, China","Intelligent Robotics Institute, School of Aerospace Science and Engineering, Beijing Institute of Technology, 5 South Zhongguancun Street, Haidian District Beijing 100081, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute,School of AeroSpace Science and Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Intelligent Robotics Institute, School of Aerospace Science and Engineering, Beijing Institute of Technology, 5 South Zhongguancun Street, Haidian District Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100614080","display_name":"Xiaobing Han","orcid":"https://orcid.org/0000-0002-2191-2864"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Xiaobing","raw_affiliation_strings":["Intelligent Robotics Institute,School of AeroSpace Science and Engineering, Beijing Institute of Technology, Beijing, China","Intelligent Robotics Institute, School of Aerospace Science and Engineering, Beijing Institute of Technology, 5 South Zhongguancun Street, Haidian District Beijing 100081, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute,School of AeroSpace Science and Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Intelligent Robotics Institute, School of Aerospace Science and Engineering, Beijing Institute of Technology, 5 South Zhongguancun Street, Haidian District Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029504684","display_name":"Guangping Qi","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Guangping","raw_affiliation_strings":["Intelligent Robotics Institute,School of AeroSpace Science and Engineering, Beijing Institute of Technology, Beijing, China","Intelligent Robotics Institute, School of Aerospace Science and Engineering, Beijing Institute of Technology, 5 South Zhongguancun Street, Haidian District Beijing 100081, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute,School of AeroSpace Science and Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Intelligent Robotics Institute, School of Aerospace Science and Engineering, Beijing Institute of Technology, 5 South Zhongguancun Street, Haidian District Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5076449883"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.15821154,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2273","last_page":"2277"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9972000122070312,"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":0.9972000122070312,"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":0.9904000163078308,"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/T12288","display_name":"Optimization and Search Problems","score":0.9765999913215637,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8812676668167114},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.8217384815216064},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7909705638885498},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7116078734397888},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7114723920822144},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.652918815612793},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6245739459991455},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5623194575309753},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.5416399240493774},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5033556818962097},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.49915218353271484},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4960711896419525},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.48361697793006897},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.48122596740722656},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4733928442001343},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3775290250778198},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2714794874191284},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14173951745033264},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.057404905557632446}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8812676668167114},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.8217384815216064},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7909705638885498},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7116078734397888},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7114723920822144},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.652918815612793},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6245739459991455},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5623194575309753},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.5416399240493774},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5033556818962097},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.49915218353271484},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4960711896419525},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.48361697793006897},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.48122596740722656},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4733928442001343},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3775290250778198},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2714794874191284},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14173951745033264},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.057404905557632446},{"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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","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/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.5420385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals","score":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1964168945","https://openalex.org/W2081840837","https://openalex.org/W2350748898","https://openalex.org/W2362675945","https://openalex.org/W2379449794","https://openalex.org/W2391628752"],"related_works":["https://openalex.org/W2950170662","https://openalex.org/W2158014010","https://openalex.org/W1974636618","https://openalex.org/W3134095027","https://openalex.org/W2124058229","https://openalex.org/W2098422130","https://openalex.org/W3146927000","https://openalex.org/W2033579450","https://openalex.org/W4226397097","https://openalex.org/W4226090668"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,11,25,36,39,45,55,68],"artificial":[4,60],"potential":[5],"field":[6,61],"method":[7,31,69],"was":[8],"applied":[9],"to":[10,48],"formation":[12],"control":[13],"and":[14,44],"real-time":[15],"path":[16],"planning":[17],"in":[18,24,38,59],"unknown":[19],"environment":[20],"for":[21,32],"mobile":[22],"robots;":[23],"same":[26],"time,":[27],"we":[28],"find":[29],"a":[30],"mutual":[33],"cooperation":[34],"between":[35],"robots":[37],"process":[40],"of":[41],"obstacle":[42],"avoidance,":[43],"emergency":[46],"treatment":[47],"special":[49],"circumstances,":[50],"Which":[51],"can":[52],"deal":[53],"with":[54],"local":[56],"minimum":[57],"problem":[58],"approach.":[62],"The":[63],"simulation":[64],"experiments":[65],"show":[66],"that":[67],"is":[70],"effective.":[71]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
