{"id":"https://openalex.org/W2028935084","doi":"https://doi.org/10.1109/robot.2010.5509995","title":"Decentralized grid-based algorithms for formation reconfiguration and synchronization","display_name":"Decentralized grid-based algorithms for formation reconfiguration and synchronization","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2028935084","doi":"https://doi.org/10.1109/robot.2010.5509995","mag":"2028935084"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509995","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509995","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/A5069206737","display_name":"Damjan Mikli\u0107","orcid":"https://orcid.org/0000-0002-0173-5573"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":true,"raw_author_name":"Damjan Miklic","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia","Faculty of Electrical Engineering and Computing, University of Zagreb, 10000 Croatia"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, University of Zagreb, 10000 Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071197011","display_name":"Stjepan Bogdan","orcid":"https://orcid.org/0000-0003-2636-3216"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Stjepan Bogdan","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia","Faculty of Electrical Engineering and Computing, University of Zagreb, 10000 Croatia"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, University of Zagreb, 10000 Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074464769","display_name":"Rafael Fierro","orcid":"https://orcid.org/0000-0002-5574-7246"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rafael Fierro","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM, USA","Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque 87131, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque 87131, USA","institution_ids":["https://openalex.org/I169521973"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5069206737"],"corresponding_institution_ids":["https://openalex.org/I181343428"],"apc_list":null,"apc_paid":null,"fwci":0.7123,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.71783912,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4463","last_page":"4468"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":1.0,"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":0.9993000030517578,"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/T11896","display_name":"Opportunistic and Delay-Tolerant Networks","score":0.9951000213623047,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.8429640531539917},{"id":"https://openalex.org/keywords/rendezvous","display_name":"Rendezvous","score":0.8253670334815979},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7887438535690308},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.7394733428955078},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.7140424251556396},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.6638232469558716},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6362496018409729},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4800640046596527},{"id":"https://openalex.org/keywords/extension","display_name":"Extension (predicate logic)","score":0.4247395694255829},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.42454594373703003},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2918970286846161},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.14739316701889038},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.11915656924247742},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10162431001663208},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.09561216831207275},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07254612445831299}],"concepts":[{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.8429640531539917},{"id":"https://openalex.org/C2779968344","wikidata":"https://www.wikidata.org/wiki/Q3932925","display_name":"Rendezvous","level":3,"score":0.8253670334815979},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7887438535690308},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.7394733428955078},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.7140424251556396},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.6638232469558716},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6362496018409729},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4800640046596527},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.4247395694255829},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.42454594373703003},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2918970286846161},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.14739316701889038},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.11915656924247742},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10162431001663208},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.09561216831207275},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07254612445831299},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2010.5509995","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509995","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1531766721","https://openalex.org/W1788292158","https://openalex.org/W1970786657","https://openalex.org/W2025421018","https://openalex.org/W2056371542","https://openalex.org/W2101472341","https://openalex.org/W2105837036","https://openalex.org/W2105850748","https://openalex.org/W2119120935","https://openalex.org/W2151609251","https://openalex.org/W2155929731","https://openalex.org/W2165413656","https://openalex.org/W6632034799"],"related_works":["https://openalex.org/W2057371520","https://openalex.org/W2542862126","https://openalex.org/W2807763113","https://openalex.org/W2030068303","https://openalex.org/W1521763702","https://openalex.org/W2245527669","https://openalex.org/W937816491","https://openalex.org/W2046042302","https://openalex.org/W2906790212","https://openalex.org/W2089952735"],"abstract_inverted_index":{"In":[0,15],"this":[1],"paper":[2,48],"we":[3,19,72,123],"present":[4],"a":[5,22,28,44,62],"formation":[6,23,69,95,106],"synchronization":[7],"and":[8,91],"reconfiguration":[9],"scheme":[10],"based":[11],"on":[12,94],"distributed":[13,63],"computation.":[14],"our":[16,119],"previous":[17],"work,":[18,54],"have":[20],"introduced":[21],"abstraction":[24,100],"by":[25,43],"means":[26],"of":[27,52,76,110,128],"virtual":[29],"rectangular":[30],"grid.":[31],"The":[32,81],"grid":[33,99],"was":[34],"used":[35,102],"to":[36,85,103],"ensure":[37],"collision-free":[38,68],"transitions":[39],"between":[40],"formations,":[41],"coordinated":[42],"centralized":[45],"controller.":[46],"This":[47],"is":[49,101,121],"an":[50,74],"extension":[51,75],"that":[53,58],"proposing":[55],"control":[56],"laws":[57],"are":[59,83,113],"computed":[60],"in":[61],"way":[64],"while":[65],"still":[66],"ensuring":[67],"reconfigurations.":[70],"Furthermore,":[71],"consider":[73],"the":[77,88,98,105,126],"group":[78],"rendezvous":[79,89],"problem.":[80],"agents":[82],"required":[84],"meet":[86],"at":[87],"point":[90],"establish":[92],"consensus":[93],"state.":[96,107],"Again,":[97],"describe":[104],"Nonholonomic":[108],"constraints":[109],"agent":[111],"motion":[112],"taken":[114],"into":[115],"account":[116],"explicitly.":[117],"As":[118],"approach":[120],"communication-based,":[122],"also":[124],"examine":[125],"effects":[127],"temporary":[129],"communication":[130],"loss.":[131]},"counts_by_year":[{"year":2018,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
