{"id":"https://openalex.org/W2106129306","doi":"https://doi.org/10.1109/robot.2003.1241657","title":"Formation control of nonholonomic mobile robots with omnidirectional visual servoing and motion segmentation","display_name":"Formation control of nonholonomic mobile robots with omnidirectional visual servoing and motion segmentation","publication_year":2004,"publication_date":"2004-03-01","ids":{"openalex":"https://openalex.org/W2106129306","doi":"https://doi.org/10.1109/robot.2003.1241657","mag":"2106129306"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1241657","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241657","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","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/A5011256828","display_name":"Ren\u00e8 Vidal","orcid":"https://orcid.org/0000-0003-1838-0761"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"R. Vidal","raw_affiliation_strings":["Department of Electrical Engineering & Computer Sciences, University of California at Berkeley, Berkeley, CA, USA","Dept. of Electr. Eng. & Comput.Sci., California Univ., Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering & Computer Sciences, University of California at Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Comput.Sci., California Univ., Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039770495","display_name":"Omid Shakernia","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"O. Shakernia","raw_affiliation_strings":["Department of Electrical Engineering & Computer Sciences, University of California at Berkeley, Berkeley, CA","Dept. of Electr. Eng. & Comput.Sci., California Univ., Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering & Computer Sciences, University of California at Berkeley, Berkeley, CA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Comput.Sci., California Univ., Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103101043","display_name":"S. Shankar Sastry","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Sastry","raw_affiliation_strings":["Department of Electrical Engineering & Computer Sciences, University of California at Berkeley, Berkeley, CA, USA","Dept. of Electr. Eng. & Comput.Sci., California Univ., Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering & Computer Sciences, University of California at Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Comput.Sci., California Univ., Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5011256828"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":13.2006,"has_fulltext":false,"cited_by_count":197,"citation_normalized_percentile":{"value":0.98800744,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"1","issue":null,"first_page":"584","last_page":"589"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9990000128746033,"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":0.9990000128746033,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9970999956130981,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9876999855041504,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.7964597940444946},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.6787288188934326},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6155465245246887},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5654304623603821},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5558910965919495},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.54387366771698},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5399025082588196},{"id":"https://openalex.org/keywords/omnidirectional-camera","display_name":"Omnidirectional camera","score":0.5385497808456421},{"id":"https://openalex.org/keywords/image-plane","display_name":"Image plane","score":0.4820317029953003},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4614390730857849},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45018234848976135},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.44363242387771606},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4190084636211395},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1797448694705963},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1717432737350464},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.12797027826309204}],"concepts":[{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.7964597940444946},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.6787288188934326},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6155465245246887},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5654304623603821},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5558910965919495},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.54387366771698},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5399025082588196},{"id":"https://openalex.org/C2777953668","wikidata":"https://www.wikidata.org/wiki/Q684116","display_name":"Omnidirectional camera","level":4,"score":0.5385497808456421},{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.4820317029953003},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4614390730857849},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45018234848976135},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.44363242387771606},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4190084636211395},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1797448694705963},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1717432737350464},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.12797027826309204},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2003.1241657","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241657","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.14.7188","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.14.7188","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.eecs.berkeley.edu/~rvidal/omniformation.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1498813999","https://openalex.org/W1515575559","https://openalex.org/W1778911478","https://openalex.org/W2099159893","https://openalex.org/W2099397914","https://openalex.org/W2105744927","https://openalex.org/W2121324469","https://openalex.org/W2138004545","https://openalex.org/W2145521722","https://openalex.org/W2147928602","https://openalex.org/W2152170081","https://openalex.org/W2165413656","https://openalex.org/W6629629270","https://openalex.org/W6638189091"],"related_works":["https://openalex.org/W2394227063","https://openalex.org/W2096032076","https://openalex.org/W2125003224","https://openalex.org/W2141878121","https://openalex.org/W2141913430","https://openalex.org/W2979521970","https://openalex.org/W1609986274","https://openalex.org/W1832761836","https://openalex.org/W2046386284","https://openalex.org/W2131050923"],"abstract_inverted_index":{"We":[0,43,72,102,134],"consider":[1],"the":[2,22,26,31,49,58,63,66,75,79,88,92,95,98,116,129],"problem":[3,33],"of":[4,8,62,69,78,91,97,131],"having":[5],"a":[6,13,35,45,105],"team":[7],"nonholonomic":[9,89],"mobile":[10],"robots":[11,93],"follow":[12],"desired":[14,23],"leader-follower":[15,80],"formation":[16,24,117,143],"using":[17],"omnidirectional":[18,50,99,132,141],"vision.":[19],"By":[20],"specifying":[21],"in":[25,65],"image":[27,67],"plane,":[28],"we":[29],"translate":[30],"control":[32,121,144],"into":[34],"separate":[36],"visual":[37],"servoing":[38],"task":[39],"for":[40],"each":[41,70],"follower.":[42,71],"use":[44],"rank":[46],"constraint":[47],"on":[48],"optical":[51],"flows":[52],"across":[53],"multiple":[54],"frames":[55],"to":[56,87],"estimate":[57],"position":[59],"and":[60,94,137],"velocities":[61],"leaders":[64],"plane":[68],"show":[73],"that":[74,109],"direct":[76],"feedback-linearization":[77],"dynamics":[81],"suffers":[82],"from":[83],"degenerate":[84,112],"configurations":[85],"due":[86],"constraints":[90],"nonlinearity":[96],"projection":[100],"model.":[101],"therefore":[103],"design":[104],"nonlinear":[106],"tracking":[107],"controller":[108],"avoids":[110],"such":[111],"configurations,":[113],"while":[114],"preserving":[115],"input-to-state":[118],"stability.":[119],"Our":[120],"law":[122],"naturally":[123],"incorporates":[124],"collision":[125],"avoidance":[126],"by":[127],"exploiting":[128],"geometry":[130],"cameras.":[133],"present":[135],"simulations":[136],"experiments":[138],"evaluating":[139],"our":[140],"vision-based":[142],"scheme.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":9}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}