{"id":"https://openalex.org/W4390099914","doi":"https://doi.org/10.1109/robio58561.2023.10354740","title":"Enhancing Convergence Speed of Multi-Agent Formation Control via Laplacian Functions","display_name":"Enhancing Convergence Speed of Multi-Agent Formation Control via Laplacian Functions","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099914","doi":"https://doi.org/10.1109/robio58561.2023.10354740"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354740","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354740","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5102822959","display_name":"Qilong Zhang","orcid":"https://orcid.org/0009-0008-4830-3269"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qilong Zhang","raw_affiliation_strings":["ShanghaiTech University,School of Information Science and Technology,Shanghai,China,201210"],"affiliations":[{"raw_affiliation_string":"ShanghaiTech University,School of Information Science and Technology,Shanghai,China,201210","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103385801","display_name":"Binglin He","orcid":"https://orcid.org/0000-0002-8864-9669"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Binglin He","raw_affiliation_strings":["ShanghaiTech University,School of Information Science and Technology,Shanghai,China,201210"],"affiliations":[{"raw_affiliation_string":"ShanghaiTech University,School of Information Science and Technology,Shanghai,China,201210","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037246769","display_name":"Yangyang Zhao","orcid":"https://orcid.org/0000-0003-3968-0595"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangyang Zhao","raw_affiliation_strings":["ShanghaiTech University,School of Information Science and Technology,Shanghai,China,201210"],"affiliations":[{"raw_affiliation_string":"ShanghaiTech University,School of Information Science and Technology,Shanghai,China,201210","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100339609","display_name":"Song Liu","orcid":"https://orcid.org/0000-0003-3112-8907"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Song Liu","raw_affiliation_strings":["ShanghaiTech University,School of Information Science and Technology,Shanghai,China,201210"],"affiliations":[{"raw_affiliation_string":"ShanghaiTech University,School of Information Science and Technology,Shanghai,China,201210","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070580299","display_name":"Yang Wang","orcid":"https://orcid.org/0000-0001-8100-9194"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Wang","raw_affiliation_strings":["ShanghaiTech University,School of Information Science and Technology,Shanghai,China,201210"],"affiliations":[{"raw_affiliation_string":"ShanghaiTech University,School of Information Science and Technology,Shanghai,China,201210","institution_ids":["https://openalex.org/I30809798"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102822959"],"corresponding_institution_ids":["https://openalex.org/I30809798"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20950429,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T11896","display_name":"Opportunistic and Delay-Tolerant Networks","score":0.998199999332428,"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/T10246","display_name":"Mobile Ad Hoc Networks","score":0.9940999746322632,"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/laplacian-matrix","display_name":"Laplacian matrix","score":0.8290308713912964},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.7179253101348877},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6301254034042358},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.48260486125946045},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.48164239525794983},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.4779632091522217},{"id":"https://openalex.org/keywords/usable","display_name":"USable","score":0.47191694378852844},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4653400182723999},{"id":"https://openalex.org/keywords/laplace-operator","display_name":"Laplace operator","score":0.46192094683647156},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4365807771682739},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3795216679573059},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36252477765083313},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33815568685531616},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33429843187332153},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32326430082321167},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.215999573469162},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18107914924621582},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15253257751464844},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13994738459587097}],"concepts":[{"id":"https://openalex.org/C115178988","wikidata":"https://www.wikidata.org/wiki/Q772067","display_name":"Laplacian matrix","level":3,"score":0.8290308713912964},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.7179253101348877},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6301254034042358},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.48260486125946045},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.48164239525794983},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.4779632091522217},{"id":"https://openalex.org/C2780615836","wikidata":"https://www.wikidata.org/wiki/Q2471869","display_name":"USable","level":2,"score":0.47191694378852844},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4653400182723999},{"id":"https://openalex.org/C165700671","wikidata":"https://www.wikidata.org/wiki/Q203484","display_name":"Laplace operator","level":2,"score":0.46192094683647156},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4365807771682739},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3795216679573059},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36252477765083313},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33815568685531616},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33429843187332153},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32326430082321167},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.215999573469162},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18107914924621582},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15253257751464844},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13994738459587097},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio58561.2023.10354740","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354740","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W613360614","https://openalex.org/W1972263193","https://openalex.org/W2042733674","https://openalex.org/W2343562255","https://openalex.org/W2508249089","https://openalex.org/W2532049706","https://openalex.org/W2598136971","https://openalex.org/W2734417836","https://openalex.org/W2793709860","https://openalex.org/W2796974626","https://openalex.org/W2922142298","https://openalex.org/W2926397355","https://openalex.org/W2995105004","https://openalex.org/W3000979124","https://openalex.org/W3034502743","https://openalex.org/W3037099908","https://openalex.org/W3037920390","https://openalex.org/W3039584914","https://openalex.org/W3092344703","https://openalex.org/W3131356433","https://openalex.org/W3173076363","https://openalex.org/W3198932099","https://openalex.org/W4317383080","https://openalex.org/W4320479351"],"related_works":["https://openalex.org/W2921748058","https://openalex.org/W4380570985","https://openalex.org/W2570009360","https://openalex.org/W3004345458","https://openalex.org/W2883186538","https://openalex.org/W2051180862","https://openalex.org/W1976439244","https://openalex.org/W2402951419","https://openalex.org/W2896947499","https://openalex.org/W2362501828"],"abstract_inverted_index":{"Formation":[0],"control":[1,43],"is":[2,17,32,112],"an":[3],"essential":[4],"research":[5],"topic":[6],"in":[7,63],"multi-agent":[8],"systems":[9],"(MAS),":[10],"while":[11],"the":[12,58,68,72,83,87,98,128,139],"convergence":[13,46,59,84,99,130],"speed":[14,60,85,131],"of":[15,36,61,71,86,97],"formation":[16,42,64,88,129],"critically":[18],"important":[19],"for":[20,39],"applications":[21],"with":[22,44],"real-time":[23],"performance":[24],"requirements,":[25],"such":[26],"as":[27],"rescuing":[28],"tasks.":[29],"However,":[30],"there":[31],"still":[33],"a":[34,51],"lack":[35],"effective":[37],"methods":[38],"practically":[40],"usable":[41],"controllable":[45],"speed.":[47],"This":[48],"paper":[49],"introduces":[50],"novel":[52],"Laplacian":[53,69,140],"function-based":[54],"approach":[55,92],"to":[56,78,105],"enhance":[57],"MAS":[62],"control.":[65],"By":[66],"utilizing":[67],"matrix":[70],"communication":[73],"graph,":[74],"eigenvalues":[75],"are":[76],"mapped":[77],"desired":[79],"positions,":[80],"thereby":[81],"improving":[82],"process.":[89],"Additionally,":[90],"this":[91],"enables":[93],"estimation":[94],"and":[95,103,121],"manipulation":[96],"speed,":[100],"offering":[101],"flexibility":[102],"adaptability":[104],"meet":[106],"application-specific":[107],"requirements.":[108],"The":[109],"proposed":[110],"scheme":[111],"experimentally":[113],"validated":[114],"through":[115],"multiple":[116],"quadrotors,":[117],"demonstrating":[118],"its":[119],"effectiveness":[120],"practical":[122],"feasibility.":[123],"Experimental":[124],"results":[125],"show":[126],"that":[127],"can":[132],"be":[133],"well":[134],"controlled":[135],"by":[136],"appropriately":[137],"designing":[138],"functions.":[141]},"counts_by_year":[],"updated_date":"2025-12-25T23:11:45.687758","created_date":"2025-10-10T00:00:00"}