{"id":"https://openalex.org/W2118108721","doi":"https://doi.org/10.1109/robio.2009.5420668","title":"Multi-robot formation control using leader-follower for MANET","display_name":"Multi-robot formation control using leader-follower for MANET","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2118108721","doi":"https://doi.org/10.1109/robio.2009.5420668","mag":"2118108721"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420668","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420668","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/A5100388048","display_name":"Yi Zhang","orcid":"https://orcid.org/0000-0001-6935-5721"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yi Zhang","raw_affiliation_strings":["Chongqing University of Posts and Telecommunications, China","ChongQing University of Posts & Telecommunications"],"affiliations":[{"raw_affiliation_string":"Chongqing University of Posts and Telecommunications, China","institution_ids":["https://openalex.org/I10535382"]},{"raw_affiliation_string":"ChongQing University of Posts & Telecommunications","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100392752","display_name":"Li Zeng","orcid":"https://orcid.org/0009-0000-7540-7815"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Zeng","raw_affiliation_strings":["Chongqing University of Posts and Telecommunications, China","ChongQing University of Posts & Telecommunications"],"affiliations":[{"raw_affiliation_string":"Chongqing University of Posts and Telecommunications, China","institution_ids":["https://openalex.org/I10535382"]},{"raw_affiliation_string":"ChongQing University of Posts & Telecommunications","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100630059","display_name":"Yanhua Li","orcid":"https://orcid.org/0000-0001-8972-503X"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanhua Li","raw_affiliation_strings":["Chongqing University, Chongqing, China"],"affiliations":[{"raw_affiliation_string":"Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077397966","display_name":"Quanjie Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quanjie Liu","raw_affiliation_strings":["Chongqing University, Chongqing, China"],"affiliations":[{"raw_affiliation_string":"Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100388048"],"corresponding_institution_ids":["https://openalex.org/I10535382"],"apc_list":null,"apc_paid":null,"fwci":1.7142,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.85733858,"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":"337","last_page":"342"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994999766349792,"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":0.9994999766349792,"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/T11896","display_name":"Opportunistic and Delay-Tolerant Networks","score":0.9993000030517578,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/mobile-robot","display_name":"Mobile robot","score":0.8169169425964355},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.683324933052063},{"id":"https://openalex.org/keywords/mobile-ad-hoc-network","display_name":"Mobile ad hoc network","score":0.6155835390090942},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5748187899589539},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5391822457313538},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.49158987402915955},{"id":"https://openalex.org/keywords/wireless-ad-hoc-network","display_name":"Wireless ad hoc network","score":0.45221957564353943},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4406417906284332},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4357195496559143},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35528564453125},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.2903699576854706},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2661595940589905},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26193445920944214},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.14002767205238342},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07555675506591797}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8169169425964355},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.683324933052063},{"id":"https://openalex.org/C91280400","wikidata":"https://www.wikidata.org/wiki/Q4085781","display_name":"Mobile ad hoc network","level":3,"score":0.6155835390090942},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5748187899589539},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5391822457313538},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.49158987402915955},{"id":"https://openalex.org/C94523657","wikidata":"https://www.wikidata.org/wiki/Q4085781","display_name":"Wireless ad hoc network","level":3,"score":0.45221957564353943},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4406417906284332},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4357195496559143},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35528564453125},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.2903699576854706},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2661595940589905},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26193445920944214},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.14002767205238342},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07555675506591797},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","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.2009.5420668","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420668","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":[{"score":0.4300000071525574,"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W148297426","https://openalex.org/W400269483","https://openalex.org/W1546435507","https://openalex.org/W2017554202","https://openalex.org/W2022640474","https://openalex.org/W2043576939","https://openalex.org/W2057650923","https://openalex.org/W2097346851","https://openalex.org/W2105935781","https://openalex.org/W2106254116","https://openalex.org/W2113739894","https://openalex.org/W2123923211","https://openalex.org/W2126731873","https://openalex.org/W2130403046","https://openalex.org/W2135671912","https://openalex.org/W2147928602","https://openalex.org/W2161404123","https://openalex.org/W2167485994","https://openalex.org/W2951276827","https://openalex.org/W4301914042"],"related_works":["https://openalex.org/W3035283282","https://openalex.org/W2768875466","https://openalex.org/W1591014886","https://openalex.org/W2551975114","https://openalex.org/W2025838880","https://openalex.org/W1511473871","https://openalex.org/W1581687089","https://openalex.org/W2003275014","https://openalex.org/W4210799434","https://openalex.org/W2282175249"],"abstract_inverted_index":{"With":[0],"the":[1,4,7,11,17,28,32,46,49,54,64,114,133,146,151,158,163,178,183,192,200,206,219,227],"development":[2],"of":[3,10,27,34,39,42,48,51,56,63,66,117,125,153,165,202],"multi-robot":[5,12,43,57,100],"coordination,":[6],"working":[8],"efficiency":[9,47],"system":[13,65],"is":[14,25,59,107,135,150,174,180,229],"improved,":[15],"and":[16,70,96,132,137,177,214,216],"tasks":[18],"can":[19,208],"be":[20,121,139,209],"finished":[21],"better.":[22],"Multi-robot":[23],"coordination":[24,50],"one":[26,143],"important":[29,75],"issues":[30],"for":[31],"research":[33,38,164],"mobile":[35,78,104,118],"robot.":[36],"The":[37,123],"formation":[40,58,101,166],"control":[41,167],"will":[44],"improve":[45],"multi-robot.":[52],"So":[53],"problem":[55,62,201],"a":[60],"typical":[61,147],"robot":[67,79],"team":[68],"formation,":[69],"also":[71],"communications":[72],"play":[73],"an":[74],"role":[76],"in":[77,172,187,210],"systems":[80],"able":[81],"to":[82,109,198],"address":[83],"real":[84],"world":[85],"applications.":[86],"Mobile":[87],"ad-hoc":[88,196],"networks":[89,106,119],"are":[90],"characterized":[91],"by":[92,103],"self-organization,":[93],"rapid":[94],"deployment":[95],"fault":[97],"tolerance.":[98],"A":[99],"supported":[102],"Ad-hoc":[105],"suitable":[108],"some":[110],"special":[111],"situations":[112],"where":[113],"communication":[115,171],"devices":[116],"cannot":[120],"preinstalled.":[122],"technology":[124],"leader-follower":[126,148,193],"method":[127,194],"has":[128],"been":[129],"very":[130],"mature":[131],"effect":[134,179],"good,":[136],"could":[138],"fast":[140],"respond.":[141],"However":[142],"issue":[144],"with":[145,195],"strategy":[149],"lack":[152],"inter-robot":[154],"information":[155],"feedback":[156],"throughout":[157],"group.":[159],"And":[160],"at":[161,218],"present,":[162],"only":[168],"based":[169],"on":[170],"real-time":[173,203],"not":[175],"high,":[176],"bad.":[181],"As":[182],"reason":[184],"mentioned":[185],"above,":[186],"this":[188],"paper,":[189],"we":[190],"combined":[191],"network":[197],"solve":[199],"formation.":[204],"Then":[205],"robots":[207],"their":[211],"lines":[212],"correctly":[213],"quickly":[215],"arrive":[217],"goal":[220],"position.":[221],"Computerized":[222],"simulation":[223],"results":[224],"show":[225],"that":[226],"approach":[228],"feasible.":[230]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
