{"id":"https://openalex.org/W2163238575","doi":"https://doi.org/10.1109/robot.2009.5152614","title":"On connectivity maintenance in linear cyclic pursuit","display_name":"On connectivity maintenance in linear cyclic pursuit","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2163238575","doi":"https://doi.org/10.1109/robot.2009.5152614","mag":"2163238575"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152614","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152614","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":"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/A5026787189","display_name":"Fabio Morbidi","orcid":"https://orcid.org/0000-0002-7187-3410"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"F. Morbidi","raw_affiliation_strings":["Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Siena, Siena, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Siena, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082119504","display_name":"G. Ripaccioli","orcid":null},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"G. Ripaccioli","raw_affiliation_strings":["Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Siena, Siena, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Siena, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056137946","display_name":"Domenico Prattichizzo","orcid":"https://orcid.org/0000-0001-9051-9698"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"D. Prattichizzo","raw_affiliation_strings":["Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Siena, Siena, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Siena, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I102064193"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"363","last_page":"368"},"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/T12158","display_name":"Guidance and Control Systems","score":0.9994000196456909,"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/T10482","display_name":"Mathematical and Theoretical Epidemiology and Ecology Models","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/rendezvous","display_name":"Rendezvous","score":0.7691456079483032},{"id":"https://openalex.org/keywords/double-integrator","display_name":"Double integrator","score":0.5951467752456665},{"id":"https://openalex.org/keywords/radius","display_name":"RADIUS","score":0.5793418288230896},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5633052587509155},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5481123328208923},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.5283932089805603},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49947690963745117},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.4624932110309601},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4481927752494812},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.4226728677749634},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36002814769744873},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1884324550628662},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.1782006323337555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17435932159423828},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.16559919714927673},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.14858737587928772}],"concepts":[{"id":"https://openalex.org/C2779968344","wikidata":"https://www.wikidata.org/wiki/Q3932925","display_name":"Rendezvous","level":3,"score":0.7691456079483032},{"id":"https://openalex.org/C2779323837","wikidata":"https://www.wikidata.org/wiki/Q5300045","display_name":"Double integrator","level":3,"score":0.5951467752456665},{"id":"https://openalex.org/C178635117","wikidata":"https://www.wikidata.org/wiki/Q747499","display_name":"RADIUS","level":2,"score":0.5793418288230896},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5633052587509155},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5481123328208923},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.5283932089805603},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49947690963745117},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.4624932110309601},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4481927752494812},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.4226728677749634},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36002814769744873},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1884324550628662},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.1782006323337555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17435932159423828},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.16559919714927673},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.14858737587928772},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"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/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2009.5152614","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152614","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:10.1.1.639.4558","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.639.4558","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.dii.unisi.it/~morbidi/Eng/documenti/articoli/MoRiPr_ICRA09.pdf","raw_type":"text"},{"id":"pmh:oai:usiena-air.unisi.it:11365/35066","is_oa":false,"landing_page_url":"http://hdl.handle.net/11365/35066","pdf_url":null,"source":{"id":"https://openalex.org/S4377196319","display_name":"Use Siena air (University of Siena)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I102064193","host_organization_name":"University of Siena","host_organization_lineage":["https://openalex.org/I102064193"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W3521565","https://openalex.org/W1788292158","https://openalex.org/W1994237189","https://openalex.org/W2070842753","https://openalex.org/W2090881423","https://openalex.org/W2105837036","https://openalex.org/W2111638077","https://openalex.org/W2114871659","https://openalex.org/W2118741873","https://openalex.org/W2121850822","https://openalex.org/W2130532917","https://openalex.org/W2140890835","https://openalex.org/W2144354132","https://openalex.org/W2159284761","https://openalex.org/W2160643434","https://openalex.org/W2169262104","https://openalex.org/W4241000863","https://openalex.org/W6638361139"],"related_works":["https://openalex.org/W2057371520","https://openalex.org/W2807763113","https://openalex.org/W2030068303","https://openalex.org/W1521763702","https://openalex.org/W2567791005","https://openalex.org/W937816491","https://openalex.org/W2046042302","https://openalex.org/W2542862126","https://openalex.org/W2091031690","https://openalex.org/W2787598022"],"abstract_inverted_index":{"The":[0,15,81],"paper":[1],"studies":[2],"the":[3,24,49,53,57,62,65,85,93,96,100,107,111,116,123,139,142,146,149],"cyclic":[4],"pursuit":[5],"problem":[6],"in":[7,104],"presence":[8],"of":[9,26,45,52,64,92,95,99,118,141,148],"connectivity":[10,63,154],"constraints":[11],"among":[12],"single-integrator":[13],"agents.":[14],"robots,":[16],"each":[17],"one":[18],"pursuing":[19],"its":[20],"leading":[21],"neighbor":[22],"along":[23],"line":[25],"sight":[27],"rotated":[28],"by":[29,42],"a":[30,38,43,71,89,129,134],"common":[31],"offset":[32],"angle,":[33],"are":[34],"supposed":[35],"to":[36,75],"have":[37],"communication":[39,58,112],"set":[40,117],"described":[41],"disk":[44],"constant":[46],"radius.":[47],"Given":[48],"initial":[50,86,119],"position":[51],"agents,":[54],"we":[55,114,137],"determine":[56],"radii":[59],"that":[60,84,121],"preserve":[61],"robots":[66,124],"while":[67],"they":[68],"rendezvous":[69],"at":[70],"point":[72],"or":[73],"converge":[74],"an":[76],"evenly":[77],"spaced":[78],"circle":[79],"formation.":[80],"special":[82],"case":[83],"condition":[87],"is":[88,102],"linear":[90],"combination":[91],"eigenvectors":[94],"dynamic":[97],"matrix":[98],"system,":[101],"studied":[103],"detail.":[105],"On":[106],"other":[108],"hand,":[109],"given":[110],"radii,":[113],"find":[115],"conditions":[120],"guarantee":[122],"remain":[125],"always":[126],"connected.":[127],"As":[128],"final":[130],"contribution,":[131],"once":[132],"assigned":[133],"ldquonon-optimalrdquo":[135],"radius,":[136],"study":[138],"stability":[140],"hybrid":[143],"system":[144],"describing":[145],"dynamics":[147],"robotic":[150],"network":[151],"under":[152],"variable":[153],"levels.":[155]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}