{"id":"https://openalex.org/W2051353797","doi":"https://doi.org/10.1109/robot.2010.5509641","title":"Non-rigid formations of nonholonomic robots","display_name":"Non-rigid formations of nonholonomic robots","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2051353797","doi":"https://doi.org/10.1109/robot.2010.5509641","mag":"2051353797"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509641","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509641","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5048869539","display_name":"Luca Consolini","orcid":"https://orcid.org/0000-0002-3577-9398"},"institutions":[{"id":"https://openalex.org/I124601658","display_name":"University of Parma","ror":"https://ror.org/02k7wn190","country_code":"IT","type":"education","lineage":["https://openalex.org/I124601658"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Consolini","raw_affiliation_strings":["Department of Information Engineering, University of Parma, Parma, Italy","Department of Information Engineering, University of Parma, Via Usberti 181/a, 43100, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, University of Parma, Parma, Italy","institution_ids":["https://openalex.org/I124601658"]},{"raw_affiliation_string":"Department of Information Engineering, University of Parma, Via Usberti 181/a, 43100, Italy","institution_ids":["https://openalex.org/I124601658"]}]},{"author_position":"middle","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":"Fabio Morbidi","raw_affiliation_strings":["Department of Information Engineering, University of Sienna, Siena, Italy","Department of Information Engineering University of Siena, Via Roma, 56 - 53100, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, University of Sienna, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]},{"raw_affiliation_string":"Department of Information Engineering University of Siena, Via Roma, 56 - 53100, Italy","institution_ids":["https://openalex.org/I102064193"]}]},{"author_position":"middle","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":"Domenico Prattichizzo","raw_affiliation_strings":["Department of Information Engineering, University of Sienna, Siena, Italy","Department of Information Engineering University of Siena, Via Roma, 56 - 53100, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, University of Sienna, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]},{"raw_affiliation_string":"Department of Information Engineering University of Siena, Via Roma, 56 - 53100, Italy","institution_ids":["https://openalex.org/I102064193"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077595382","display_name":"Mario Tosques","orcid":"https://orcid.org/0000-0002-3710-7552"},"institutions":[{"id":"https://openalex.org/I124601658","display_name":"University of Parma","ror":"https://ror.org/02k7wn190","country_code":"IT","type":"education","lineage":["https://openalex.org/I124601658"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mario Tosques","raw_affiliation_strings":["Department of Civil Engineering, University of Parma, Parma, Italy","Department of Civil Engineering, University of Parma, Via Usberti 181/a, 43100, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Civil Engineering, University of Parma, Parma, Italy","institution_ids":["https://openalex.org/I124601658"]},{"raw_affiliation_string":"Department of Civil Engineering, University of Parma, Via Usberti 181/a, 43100, Italy","institution_ids":["https://openalex.org/I124601658"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7457,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.73872859,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"4976","last_page":"4981"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996999979019165,"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.6515042781829834},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6279102563858032},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6163979172706604},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6113767623901367},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.6092256307601929},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.596051812171936},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5858056545257568},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.559820294380188},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5177706480026245},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4998197555541992},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4536215662956238},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4245622754096985},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.42142510414123535},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41449517011642456},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4122147262096405},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3772408664226532},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2768077254295349},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2695751190185547},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18728721141815186},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.172895610332489},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13626423478126526},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.08243325352668762}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6515042781829834},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6279102563858032},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6163979172706604},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6113767623901367},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.6092256307601929},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.596051812171936},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5858056545257568},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.559820294380188},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5177706480026245},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4998197555541992},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4536215662956238},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4245622754096985},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.42142510414123535},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41449517011642456},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4122147262096405},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3772408664226532},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2768077254295349},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2695751190185547},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18728721141815186},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.172895610332489},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13626423478126526},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.08243325352668762},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2010.5509641","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509641","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.431.8062","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.431.8062","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/CoMoPrTo_ICRA10.pdf","raw_type":"text"},{"id":"pmh:oai:usiena-air.unisi.it:11365/33141","is_oa":false,"landing_page_url":"http://hdl.handle.net/11365/33141","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":[{"score":0.47999998927116394,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1579504682","https://openalex.org/W1788292158","https://openalex.org/W2025421018","https://openalex.org/W2056371542","https://openalex.org/W2105837036","https://openalex.org/W2119120935","https://openalex.org/W2122585669","https://openalex.org/W2130532917","https://openalex.org/W2138296912","https://openalex.org/W2139369541","https://openalex.org/W2140996612","https://openalex.org/W2147741970","https://openalex.org/W2160643434","https://openalex.org/W2165413656","https://openalex.org/W2171867977","https://openalex.org/W4249367373","https://openalex.org/W6678329146"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W2123897685","https://openalex.org/W2293606346","https://openalex.org/W2376895870","https://openalex.org/W2254738007","https://openalex.org/W45593259"],"abstract_inverted_index":{"The":[0],"paper":[1],"deals":[2],"with":[3,69],"a":[4,15,105,112],"general":[5],"class":[6],"of":[7,10,26,33,40,66,101,107],"leader-follower":[8],"formations":[9,35],"unicycle":[11],"robots":[12,83],"induced":[13],"by":[14,36],"constraint":[16],"function":[17],"that":[18,59],"depends":[19],"on":[20],"the":[21,24,27,31,38,60,63,72,82,99,102],"position":[22],"and":[23,47,62,79],"orientation":[25,65],"vehicles.":[28],"We":[29],"study":[30],"flexibility":[32],"such":[34],"introducing":[37],"notion":[39],"formation":[41],"internal":[42],"dynamics,":[43],"characterize":[44],"its":[45],"equilibria":[46],"give":[48],"sufficient":[49],"geometric":[50],"conditions":[51],"for":[52],"their":[53],"existence.":[54],"In":[55],"particular,":[56],"we":[57],"show":[58],"displacement":[61],"relative":[64],"each":[67],"follower":[68],"respect":[70],"to":[71],"leader's":[73],"reference":[74],"frame":[75],"are":[76],"fixed":[77],"if":[78,81,98],"only":[80],"either":[84],"move":[85],"along":[86],"circular":[87],"paths":[88],"or":[89,111],"parallel":[90],"straight":[91,113],"lines.":[92],"These":[93],"equilibrium":[94],"configurations":[95],"always":[96],"exist":[97],"trajectory":[100],"leader":[103],"is":[104],"circle":[106],"sufficiently":[108],"small":[109],"curvature":[110],"line.":[114]},"counts_by_year":[{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}