{"id":"https://openalex.org/W2050901430","doi":"https://doi.org/10.1109/robio.2011.6181281","title":"Multilevel based topology design and formation control of robot swarms","display_name":"Multilevel based topology design and formation control of robot swarms","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2050901430","doi":"https://doi.org/10.1109/robio.2011.6181281","mag":"2050901430"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181281","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181281","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 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/A5027255721","display_name":"Yan Xiao","orcid":"https://orcid.org/0000-0002-2563-083X"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Xiao Yan","raw_affiliation_strings":["Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong, China","Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon (Hong Kong)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon (Hong Kong)","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100326410","display_name":"Jian Chen","orcid":"https://orcid.org/0000-0001-7679-6541"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jian Chen","raw_affiliation_strings":["Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong, China","Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon (Hong Kong)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon (Hong Kong)","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100382905","display_name":"Dong Sun","orcid":"https://orcid.org/0000-0003-3945-4037"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Dong Sun","raw_affiliation_strings":["Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong, China","Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon (Hong Kong)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon (Hong Kong)","institution_ids":["https://openalex.org/I168719708"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5027255721"],"corresponding_institution_ids":["https://openalex.org/I168719708"],"apc_list":null,"apc_paid":null,"fwci":0.7002,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.71928961,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"151","issue":null,"first_page":"174","last_page":"179"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":1.0,"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/T10482","display_name":"Mathematical and Theoretical Epidemiology and Ecology Models","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9901999831199646,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/maxima-and-minima","display_name":"Maxima and minima","score":0.7895689010620117},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7247302532196045},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.7040740847587585},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6539081931114197},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.6531573534011841},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.544215977191925},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5241539478302002},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.49472662806510925},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.47700169682502747},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.46604645252227783},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.423300176858902},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41240882873535156},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3722684979438782},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24108383059501648},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2104789912700653},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13240060210227966},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07189291715621948}],"concepts":[{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.7895689010620117},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7247302532196045},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.7040740847587585},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6539081931114197},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.6531573534011841},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.544215977191925},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5241539478302002},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.49472662806510925},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.47700169682502747},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.46604645252227783},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.423300176858902},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41240882873535156},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3722684979438782},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24108383059501648},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2104789912700653},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13240060210227966},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07189291715621948},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181281","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181281","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1968807469","https://openalex.org/W1984157775","https://openalex.org/W2005389191","https://openalex.org/W2033850389","https://openalex.org/W2042232446","https://openalex.org/W2052142439","https://openalex.org/W2066515400","https://openalex.org/W2099397914","https://openalex.org/W2106116252","https://openalex.org/W2109631474","https://openalex.org/W2119005343","https://openalex.org/W2119120935","https://openalex.org/W2125082244","https://openalex.org/W2125351530","https://openalex.org/W2127384374","https://openalex.org/W2129215875","https://openalex.org/W2129757690","https://openalex.org/W2133754447","https://openalex.org/W2137714578","https://openalex.org/W2139369541","https://openalex.org/W2144412323","https://openalex.org/W2146890818","https://openalex.org/W2147928602","https://openalex.org/W2161798039","https://openalex.org/W2170798107","https://openalex.org/W6678449984"],"related_works":["https://openalex.org/W2375684291","https://openalex.org/W2354676191","https://openalex.org/W2909957174","https://openalex.org/W3188646203","https://openalex.org/W2105527480","https://openalex.org/W4320035781","https://openalex.org/W136674370","https://openalex.org/W2052387497","https://openalex.org/W1521225173","https://openalex.org/W2402852349"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"the":[3,37,49,69,80,92,105,108],"topology":[4],"design":[5],"and":[6,76],"formation":[7,34,51],"control":[8],"of":[9,24,52,91,107],"robot":[10],"swarms":[11],"inside":[12],"a":[13],"desired":[14,38,70],"region.":[15,39],"A":[16,40],"novel":[17],"multilevel":[18],"based":[19,43,61],"swarm":[20,53],"topology,":[21],"which":[22],"consists":[23],"numerous":[25],"co-centered":[26],"regular":[27],"hexagons,":[28],"is":[29,45,87,95],"proposed":[30,93,109],"to":[31,47,65,103],"present":[32],"different":[33],"shapes":[35],"within":[36],"potential":[41,63],"function":[42],"controller":[44,56],"developed":[46],"achieve":[48],"designed":[50,74],"robots.":[54],"The":[55,83],"contains":[57],"three":[58],"forces,":[59],"generated":[60],"on":[62],"functions,":[64],"drive":[66],"robots":[67],"into":[68],"region,":[71],"arrive":[72],"at":[73,79],"levels,":[75],"avoid":[77],"collisions":[78],"same":[81],"time.":[82],"local":[84],"minima":[85],"problem":[86],"also":[88],"addressed.":[89],"Stability":[90],"system":[94],"analyzed":[96],"using":[97],"Lyapunov":[98],"approach.":[99,110],"Simulations":[100],"are":[101],"performed":[102],"illustrate":[104],"effectiveness":[106]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}