{"id":"https://openalex.org/W4313495806","doi":"https://doi.org/10.1109/scisisis55246.2022.10002048","title":"Fair Formation Control of Multiple Agents Using Ant Colony Optimization","display_name":"Fair Formation Control of Multiple Agents Using Ant Colony Optimization","publication_year":2022,"publication_date":"2022-11-29","ids":{"openalex":"https://openalex.org/W4313495806","doi":"https://doi.org/10.1109/scisisis55246.2022.10002048"},"language":"en","primary_location":{"id":"doi:10.1109/scisisis55246.2022.10002048","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/scisisis55246.2022.10002048","pdf_url":null,"source":{"id":"https://openalex.org/S4363607982","display_name":"2022 Joint 12th International Conference on Soft Computing and Intelligent Systems and 23rd International Symposium on Advanced Intelligent Systems (SCIS&amp;ISIS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 Joint 12th International Conference on Soft Computing and Intelligent Systems and 23rd International Symposium on Advanced Intelligent Systems (SCIS&amp;ISIS)","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/A5103373681","display_name":"Yoshie Suzuki","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshie Suzuki","raw_affiliation_strings":["Waseda University,Computer Science and Communications Engineering,Tokyo,Japan,1698555"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University,Computer Science and Communications Engineering,Tokyo,Japan,1698555","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022106634","display_name":"Stephen Raharja","orcid":"https://orcid.org/0009-0002-8163-4357"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Stephen Raharja","raw_affiliation_strings":["Waseda University,Computer Science and Communications Engineering,Tokyo,Japan,1698555"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University,Computer Science and Communications Engineering,Tokyo,Japan,1698555","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082205147","display_name":"Toshiharu Sugawara","orcid":"https://orcid.org/0000-0002-9271-4507"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshiharu Sugawara","raw_affiliation_strings":["Waseda University,Computer Science and Communications Engineering,Tokyo,Japan,1698555"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University,Computer Science and Communications Engineering,Tokyo,Japan,1698555","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I150744194"],"apc_list":null,"apc_paid":null,"fwci":0.1849,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.54977974,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9904999732971191,"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/ant-colony-optimization-algorithms","display_name":"Ant colony optimization algorithms","score":0.7454403638839722},{"id":"https://openalex.org/keywords/battery","display_name":"Battery (electricity)","score":0.6538967490196228},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.6337600946426392},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.6178492903709412},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6052812337875366},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46811026334762573},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.46271654963493347},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38873156905174255},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3791487216949463},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32826000452041626},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2012840211391449}],"concepts":[{"id":"https://openalex.org/C40128228","wikidata":"https://www.wikidata.org/wiki/Q460851","display_name":"Ant colony optimization algorithms","level":2,"score":0.7454403638839722},{"id":"https://openalex.org/C555008776","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery (electricity)","level":3,"score":0.6538967490196228},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.6337600946426392},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.6178492903709412},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6052812337875366},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46811026334762573},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.46271654963493347},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38873156905174255},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3791487216949463},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32826000452041626},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2012840211391449},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/scisisis55246.2022.10002048","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/scisisis55246.2022.10002048","pdf_url":null,"source":{"id":"https://openalex.org/S4363607982","display_name":"2022 Joint 12th International Conference on Soft Computing and Intelligent Systems and 23rd International Symposium on Advanced Intelligent Systems (SCIS&amp;ISIS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 Joint 12th International Conference on Soft Computing and Intelligent Systems and 23rd International Symposium on Advanced Intelligent Systems (SCIS&amp;ISIS)","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/W1560220619","https://openalex.org/W1938116388","https://openalex.org/W1990291111","https://openalex.org/W2040244142","https://openalex.org/W2762059540","https://openalex.org/W2797983435","https://openalex.org/W2802483125","https://openalex.org/W2948873505","https://openalex.org/W2973118834","https://openalex.org/W2983056308","https://openalex.org/W2999934039","https://openalex.org/W3013762311","https://openalex.org/W3049285212"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4379143281","https://openalex.org/W2605096541","https://openalex.org/W3200286695","https://openalex.org/W4212885606"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,42,108],"method":[4,175,184],"to":[5,145],"automatically":[6],"generate":[7],"consecutive":[8],"formation":[9,49,67,168],"transition":[10,68],"paths":[11],"of":[12,35,44,76,82],"multiple":[13],"agents,":[14,58,115],"such":[15,59],"as":[16,29,31,60,107],"in":[17,53,87,99,149,156],"unmanned":[18],"aerial":[19],"vehicle":[20],"(UAV)":[21],"shows,":[22],"considering":[23,73,153],"the":[24,54,66,74,77,85,124,154,182],"reduced":[25],"total":[26,78],"travel":[27,33,79,157],"distance":[28],"well":[30],"fair":[32],"distances":[34,89],"individual":[36],"agents.":[37],"A":[38],"UAV":[39,57,70,109],"show":[40,110],"is":[41,111,127,136,186],"type":[43],"entertainment":[45],"where":[46],"various":[47],"artistic":[48],"patterns":[50,169],"are":[51,119],"presented":[52],"air":[55],"by":[56,72,113,129,152],"drones.":[61],"Although":[62],"several":[63,114],"studies":[64],"discussed":[65],"for":[69,94],"shows":[71],"minimization":[75],"distance,":[80],"few":[81],"them":[83],"considered":[84],"fairness":[86,155],"moving":[88],"among":[90],"agents":[91,144,162],"and":[92,102],"transitions":[93],"long":[95],"distances,":[96],"which":[97,135],"result":[98],"battery":[100,117,130],"runout":[101],"shorter":[103],"performance":[104,125],"times":[105],"Moreover,":[106],"performed":[112],"their":[116],"capacities":[118],"usually":[120],"not":[121],"large;":[122],"however,":[123],"time":[126],"affected":[128],"consumption.":[131],"Our":[132],"proposed":[133,174],"method,":[134],"based":[137,176,188],"on":[138,177,189],"ant":[139],"colony":[140],"optimization":[141],"(ACO),":[142],"enables":[143],"present":[146],"longer":[147],"performances":[148],"3D":[150],"space":[151],"distance.":[158],"Experiments":[159],"showed":[160],"that":[161,185],"could":[163],"perform":[164],"approximately":[165],"20%":[166],"more":[167],"without":[170],"collisions":[171],"with":[172,181],"our":[173],"ACO":[178],"than":[179],"those":[180],"conventional":[183],"also":[187],"ACO.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
