{"id":"https://openalex.org/W1977571356","doi":"https://doi.org/10.1109/robot.2004.1307450","title":"Attractor dynamics generates robot formation: from theory to implementation","display_name":"Attractor dynamics generates robot formation: from theory to implementation","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W1977571356","doi":"https://doi.org/10.1109/robot.2004.1307450","mag":"1977571356"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1307450","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307450","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"},"type":"conference-paper","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/A5025443669","display_name":"S\u00e9rgio Monteiro","orcid":"https://orcid.org/0000-0002-5028-0974"},"institutions":[{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"S. Monteiro","raw_affiliation_strings":["Dept of Industrial Electronics, University of Minho, Guimaraes, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept of Industrial Electronics, University of Minho, Guimaraes, Portugal","institution_ids":["https://openalex.org/I99682543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029252212","display_name":"M\u00e1rlon de Oliveira Vaz","orcid":"https://orcid.org/0000-0003-3909-2056"},"institutions":[{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"M. Vaz","raw_affiliation_strings":["Dept of Mathematics for Science and Technology, University of Minho, Guimaraes, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept of Mathematics for Science and Technology, University of Minho, Guimaraes, Portugal","institution_ids":["https://openalex.org/I99682543"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025445248","display_name":"Estela Bicho","orcid":"https://orcid.org/0000-0003-2715-4037"},"institutions":[{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"E. Bicho","raw_affiliation_strings":["Dept of Industrial Electronics, University of Minho, Guimaraes, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept of Industrial Electronics, University of Minho, Guimaraes, Portugal","institution_ids":["https://openalex.org/I99682543"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99682543"],"apc_list":null,"apc_paid":null,"fwci":0.965,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.76574045,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"2582","last_page":"2586 Vol.3"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9975000023841858,"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"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/attractor","display_name":"Attractor","score":0.8267148733139038},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6407486796379089},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6341593265533447},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.6287369132041931},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5228803157806396},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5033032298088074},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48609256744384766},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.47937658429145813},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4481948912143707},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4465390145778656},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.43013685941696167},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4179854393005371},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.4155636727809906},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28825438022613525},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.240993469953537},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19843482971191406},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.17087695002555847},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16421177983283997},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13490739464759827},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13153493404388428}],"concepts":[{"id":"https://openalex.org/C164380108","wikidata":"https://www.wikidata.org/wiki/Q507187","display_name":"Attractor","level":2,"score":0.8267148733139038},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6407486796379089},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6341593265533447},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.6287369132041931},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5228803157806396},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5033032298088074},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48609256744384766},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.47937658429145813},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4481948912143707},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4465390145778656},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.43013685941696167},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4179854393005371},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.4155636727809906},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28825438022613525},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.240993469953537},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19843482971191406},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.17087695002555847},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16421177983283997},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13490739464759827},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13153493404388428},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2004.1307450","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307450","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1483882723","https://openalex.org/W1517023801","https://openalex.org/W1529012587","https://openalex.org/W1579012120","https://openalex.org/W1593982112","https://openalex.org/W1964417796","https://openalex.org/W1991877770","https://openalex.org/W2022014595","https://openalex.org/W2053015880","https://openalex.org/W2063645887","https://openalex.org/W2098764734","https://openalex.org/W2106129306","https://openalex.org/W2119120935","https://openalex.org/W2125160645","https://openalex.org/W2144159340","https://openalex.org/W2147928602","https://openalex.org/W2152088829","https://openalex.org/W2161229436","https://openalex.org/W2165413656","https://openalex.org/W6635593589","https://openalex.org/W6675988572"],"related_works":["https://openalex.org/W4244052565","https://openalex.org/W2358719579","https://openalex.org/W4252778923","https://openalex.org/W2385042721","https://openalex.org/W2367929022","https://openalex.org/W2351754530","https://openalex.org/W2378649906","https://openalex.org/W2391014597","https://openalex.org/W2350113401","https://openalex.org/W2348727246"],"abstract_inverted_index":{"We":[0],"show":[1],"how":[2],"non-linear":[3],"attractor":[4],"dynamics":[5],"can":[6],"be":[7],"used":[8,56],"to":[9,38,57,94,136,173],"implement":[10],"robot":[11,47],"formations":[12],"in":[13,28,48,150],"unknown":[14],"environments.":[15],"The":[16,51,100],"desired":[17,33,43],"formation":[18,170],"geometry":[19],"is":[20,102,114,148],"given":[21],"through":[22],"a":[23,46,117],"matrix":[24],"where":[25],"the":[26,39,42,49,59,63,70,87,97,104,112,131,134,140,153,157,169],"parameters":[27],"each":[29],"line":[30],"(its":[31],"leader,":[32],"distance":[34],"and":[35,76,138],"relative":[36],"orientation":[37],"leader)":[40],"define":[41],"pose":[44],"of":[45,62,96,120,133],"formation.":[50],"parameter":[52],"values":[53,68],"are":[54,83,90,106],"then":[55],"shape":[58],"vector":[60],"fields":[61],"dynamical":[64,81],"systems":[65,82,105,158],"that":[66,86,103,151],"generate":[67],"for":[69],"control":[71,88],"variables":[72,89],"(i.e.":[73],"heading":[74],"direction":[75],"path":[77],"velocity).":[78],"Then":[79],"these":[80],"tuned":[84],"such":[85],"always":[91],"very":[92],"close":[93],"one":[95],"resultant":[98],"attractors.":[99],"advantage":[101],"more":[107],"robust":[108],"against":[109],"perturbations":[110],"because":[111],"behavior":[113],"generated":[115],"as":[116,142,144,152],"time":[118],"series":[119],"asymptotically":[121],"stable":[122],"states.":[123],"Experimental":[124],"results":[125],"(with":[126],"three":[127],"Khepera":[128],"robots)":[129],"demonstrate":[130],"ability":[132],"team":[135],"create":[137],"stabilize":[139],"formation,":[141],"well":[143],"avoiding":[145],"obstacles.":[146],"Flexibility":[147],"achieved":[149],"senses":[154],"world":[155],"changes,":[156],"may":[159],"change":[160],"their":[161],"planning":[162],"solutions":[163],"continuously":[164],"but":[165],"also":[166],"discontinuously":[167],"(tuning":[168],"versus":[171],"split":[172],"avoid":[174],"obstacle).":[175]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}