{"id":"https://openalex.org/W2102268040","doi":"https://doi.org/10.1109/robot.2009.5152261","title":"Vision-based leader-follower formations with limited information","display_name":"Vision-based leader-follower formations with limited information","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2102268040","doi":"https://doi.org/10.1109/robot.2009.5152261","mag":"2102268040"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152261","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 Automation","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/A5091209975","display_name":"Hyeun Jeong Min","orcid":"https://orcid.org/0000-0002-9033-7023"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hyeun Jeong Min","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","Department of Computer Science and Engineering, University of Minnesota, Minneapolis, 55455, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, 55455, USA#TAB#","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066979606","display_name":"Andrew Drenner","orcid":null},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Drenner","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","Department of Computer Science and Engineering, University of Minnesota, Minneapolis, 55455, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, 55455, USA#TAB#","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109170958","display_name":"Nikolaos Papanikolopoulos","orcid":null},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikolaos Papanikolopoulos","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","Department of Computer Science and Engineering, University of Minnesota, Minneapolis, 55455, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, 55455, USA#TAB#","institution_ids":["https://openalex.org/I130238516"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1773,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.88389937,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"351","last_page":"356"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9940999746322632,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9898999929428101,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6576942801475525},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6363967657089233},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.601555347442627},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.597115159034729},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5939280986785889},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5438634753227234},{"id":"https://openalex.org/keywords/diagonal","display_name":"Diagonal","score":0.5261282920837402},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5092259645462036},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5007472038269043},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.48950302600860596},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47720083594322205},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.423324853181839},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4196932315826416},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.410386323928833},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3254801630973816},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17893418669700623},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15356215834617615},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.13160282373428345}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6576942801475525},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6363967657089233},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.601555347442627},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.597115159034729},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5939280986785889},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5438634753227234},{"id":"https://openalex.org/C130367717","wikidata":"https://www.wikidata.org/wiki/Q189791","display_name":"Diagonal","level":2,"score":0.5261282920837402},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5092259645462036},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5007472038269043},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.48950302600860596},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47720083594322205},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.423324853181839},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4196932315826416},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.410386323928833},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3254801630973816},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17893418669700623},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15356215834617615},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.13160282373428345},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152261","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 Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"},{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1499883728","https://openalex.org/W1508056422","https://openalex.org/W1547511169","https://openalex.org/W2106129306","https://openalex.org/W2111429343","https://openalex.org/W2119959427","https://openalex.org/W2129311963","https://openalex.org/W2133754447","https://openalex.org/W2138004545","https://openalex.org/W2139369541","https://openalex.org/W2149241770","https://openalex.org/W2151144155","https://openalex.org/W2165413656","https://openalex.org/W6629891138","https://openalex.org/W6675988572","https://openalex.org/W6681865503","https://openalex.org/W6682289200"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W1541079531","https://openalex.org/W1981991040","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W2467646110","https://openalex.org/W3001939774","https://openalex.org/W2164471481","https://openalex.org/W2583542422"],"abstract_inverted_index":{"This":[0,63],"paper":[1],"presents":[2],"a":[3,55],"new":[4],"vision-based":[5],"leader-follower":[6],"formation":[7,102],"algorithm":[8],"where":[9],"the":[10,16,38,60,100,116],"leader's":[11,61],"trajectory":[12],"is":[13],"unknown":[14],"to":[15,58],"robots":[17,110],"which":[18,31],"are":[19,29,32,45,76,111],"following.":[20],"Formation":[21],"schemes":[22],"in":[23,37,122],"straight":[24],"lines":[25],"and":[26,35,88,114],"diagonal":[27],"formations":[28],"introduced":[30],"both":[33],"stable":[34],"observable":[36],"presence":[39],"of":[40],"limited":[41],"views.":[42],"The":[43,74],"algorithms":[44,75],"novel":[46],"since":[47],"they":[48],"only":[49],"use":[50],"local":[51],"image":[52],"measurements":[53],"through":[54],"pinhole":[56],"camera":[57],"estimate":[59],"position.":[62],"approach":[64],"does":[65],"not":[66],"require":[67],"specialized":[68],"markings":[69],"nor":[70],"extensive":[71],"robot":[72],"communications.":[73],"also":[77,112],"decentralized.":[78],"We":[79],"apply":[80],"an":[81,90],"input-output":[82],"feedback":[83],"linearization":[84],"for":[85,95],"system":[86],"stability":[87],"utilize":[89],"Extended":[91],"Kalman":[92],"Filter":[93],"(EKF)":[94],"estimation.":[96],"Simulations":[97],"illustrate":[98,115],"how":[99],"proposed":[101],"controls":[103],"work.":[104],"Real":[105],"experiments":[106],"utilizing":[107],"multiple":[108],"miniature":[109],"presented":[113],"challenges":[117],"associated":[118],"with":[119],"noisy":[120],"images":[121],"real-world":[123],"applications.":[124]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}