{"id":"https://openalex.org/W2167201814","doi":"https://doi.org/10.1109/robot.2009.5152397","title":"Coordination of multiple non-holonomic agents with input constraints","display_name":"Coordination of multiple non-holonomic agents with input constraints","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2167201814","doi":"https://doi.org/10.1109/robot.2009.5152397","mag":"2167201814"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152397","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":true,"oa_status":"green","oa_url":"http://doi.org/10.1109/ROBOT.2009.5152397","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086813656","display_name":"Apollon S. Oikonomopoulos","orcid":null},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":true,"raw_author_name":"A.S. Oikonomopoulos","raw_affiliation_strings":["Control Systems Lab, National Technical Univ. of Athens, Greece"],"affiliations":[{"raw_affiliation_string":"Control Systems Lab, National Technical Univ. of Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061842534","display_name":"Savvas G. Loizou","orcid":"https://orcid.org/0000-0003-4083-9946"},"institutions":[{"id":"https://openalex.org/I38552033","display_name":"Frederick University","ror":"https://ror.org/05d8tf882","country_code":"CY","type":"education","lineage":["https://openalex.org/I38552033"]}],"countries":["CY"],"is_corresponding":false,"raw_author_name":"S.G. Loizou","raw_affiliation_strings":["Mech. Eng. Dept, Frederick University, Cyprus"],"affiliations":[{"raw_affiliation_string":"Mech. Eng. Dept, Frederick University, Cyprus","institution_ids":["https://openalex.org/I38552033"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012966309","display_name":"Kostas J. Kyriakopoulos","orcid":"https://orcid.org/0000-0002-1229-3029"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"K.J. Kyriakopoulos","raw_affiliation_strings":["Control Systems Lab, National Technical Univ. of Athens, Greece"],"affiliations":[{"raw_affiliation_string":"Control Systems Lab, National Technical Univ. of Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5086813656"],"corresponding_institution_ids":["https://openalex.org/I174458059"],"apc_list":null,"apc_paid":null,"fwci":1.4095,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.82638223,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"2404","issue":null,"first_page":"869","last_page":"874"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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":0.9995999932289124,"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/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/liveness","display_name":"Liveness","score":0.8996220827102661},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.7862449884414673},{"id":"https://openalex.org/keywords/usable","display_name":"USable","score":0.7466058135032654},{"id":"https://openalex.org/keywords/counterexample","display_name":"Counterexample","score":0.7342615127563477},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.669505774974823},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6656152009963989},{"id":"https://openalex.org/keywords/trace","display_name":"TRACE (psycholinguistics)","score":0.6508537530899048},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6086610555648804},{"id":"https://openalex.org/keywords/model-checking","display_name":"Model checking","score":0.6008149981498718},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5252111554145813},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.5021841526031494},{"id":"https://openalex.org/keywords/holonomic-constraints","display_name":"Holonomic constraints","score":0.42667150497436523},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4214811325073242},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.41146230697631836},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4114343822002411},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2383449673652649},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2195766568183899},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.09348756074905396}],"concepts":[{"id":"https://openalex.org/C15569618","wikidata":"https://www.wikidata.org/wiki/Q3561421","display_name":"Liveness","level":2,"score":0.8996220827102661},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.7862449884414673},{"id":"https://openalex.org/C2780615836","wikidata":"https://www.wikidata.org/wiki/Q2471869","display_name":"USable","level":2,"score":0.7466058135032654},{"id":"https://openalex.org/C162838799","wikidata":"https://www.wikidata.org/wiki/Q596077","display_name":"Counterexample","level":2,"score":0.7342615127563477},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.669505774974823},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6656152009963989},{"id":"https://openalex.org/C75291252","wikidata":"https://www.wikidata.org/wiki/Q1315756","display_name":"TRACE (psycholinguistics)","level":2,"score":0.6508537530899048},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6086610555648804},{"id":"https://openalex.org/C110251889","wikidata":"https://www.wikidata.org/wiki/Q1569697","display_name":"Model checking","level":2,"score":0.6008149981498718},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5252111554145813},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.5021841526031494},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.42667150497436523},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4214811325073242},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.41146230697631836},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4114343822002411},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2383449673652649},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2195766568183899},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.09348756074905396},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2009.5152397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152397","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.589.9773","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.589.9773","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ifly.nlr.nl/documents/P5.11 Oikonomopoulos et al ICRA 2009.pdf","raw_type":"text"},{"id":"pmh:oai:dspace.lib.ntua.gr:123456789/32531","is_oa":true,"landing_page_url":"http://doi.org/10.1109/ROBOT.2009.5152397","pdf_url":null,"source":{"id":"https://openalex.org/S4377196837","display_name":"DSpace - NTUA (National Technical University of Athens)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I174458059","host_organization_name":"National Technical University of Athens","host_organization_lineage":["https://openalex.org/I174458059"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings - IEEE International Conference on Robotics and Automation","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:dspace.lib.ntua.gr:123456789/32531","is_oa":true,"landing_page_url":"http://doi.org/10.1109/ROBOT.2009.5152397","pdf_url":null,"source":{"id":"https://openalex.org/S4377196837","display_name":"DSpace - NTUA (National Technical University of Athens)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I174458059","host_organization_name":"National Technical University of Athens","host_organization_lineage":["https://openalex.org/I174458059"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings - IEEE International Conference on Robotics and Automation","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1489391022","https://openalex.org/W1507868192","https://openalex.org/W1994511055","https://openalex.org/W2044529964","https://openalex.org/W2056864430","https://openalex.org/W2101508170","https://openalex.org/W2110144538","https://openalex.org/W2119470215","https://openalex.org/W2124623089","https://openalex.org/W2126435308","https://openalex.org/W2130519480","https://openalex.org/W2130786035","https://openalex.org/W2160883697","https://openalex.org/W2788342898","https://openalex.org/W4285719527","https://openalex.org/W6679302799","https://openalex.org/W6683903473"],"related_works":["https://openalex.org/W2953113086","https://openalex.org/W1552191998","https://openalex.org/W2154502479","https://openalex.org/W2082472813","https://openalex.org/W1593123930","https://openalex.org/W2147348835","https://openalex.org/W3005566532","https://openalex.org/W2127776540","https://openalex.org/W2056825861","https://openalex.org/W2365582959"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"present":[4],"a":[5,19,50,58,63,67],"multi-agent":[6],"coordination":[7],"algorithm":[8],"suitable":[9,27],"for":[10,28,61],"systems":[11],"with":[12,30],"aircraft-like":[13],"kinematic":[14],"constraints.":[15],"A":[16],"model":[17,51],"of":[18,21],"system":[20],"input-constrained":[22],"non-holonomic":[23],"agents":[24,35],"is":[25],"constructed,":[26],"use":[29],"formal":[31],"verification":[32],"tools.":[33],"The":[34],"considered":[36],"are":[37],"uniform":[38],"and":[39,43,73],"have":[40],"bounded":[41],"velocities":[42],"limited":[44],"turning":[45],"capabilities.":[46],"We":[47],"demonstrate":[48],"how":[49],"checker":[52],"can":[53],"be":[54],"used":[55],"to":[56],"generate":[57],"counterexample":[59],"trace":[60],"such":[62],"system,":[64],"usable":[65],"as":[66],"trajectory":[68],"that":[69],"satisfies":[70],"our":[71],"safety":[72],"liveness":[74],"requirements.":[75]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
