{"id":"https://openalex.org/W4321020252","doi":"https://doi.org/10.1109/sii55687.2023.10039398","title":"Decentralized Multi-UAV Formation Control and Navigation over a Self-Organizing Coordination Network","display_name":"Decentralized Multi-UAV Formation Control and Navigation over a Self-Organizing Coordination Network","publication_year":2023,"publication_date":"2023-01-17","ids":{"openalex":"https://openalex.org/W4321020252","doi":"https://doi.org/10.1109/sii55687.2023.10039398"},"language":"en","primary_location":{"id":"doi:10.1109/sii55687.2023.10039398","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/sii55687.2023.10039398","pdf_url":null,"source":{"id":"https://openalex.org/S4363605654","display_name":"2023 IEEE/SICE International Symposium on System Integration (SII)","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":"2023 IEEE/SICE International Symposium on System Integration (SII)","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/A5089333477","display_name":"Ryo Miyazaki","orcid":"https://orcid.org/0000-0001-8848-9098"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryo MIYAZAKI","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST),Tsukuba,Ibaraki,Japan,305-8568"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST),Tsukuba,Ibaraki,Japan,305-8568","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082635362","display_name":"Yuto YASUTA","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuto YASUTA","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST),Tsukuba,Ibaraki,Japan,305-8568"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST),Tsukuba,Ibaraki,Japan,305-8568","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055401170","display_name":"Xiao Wei Han","orcid":"https://orcid.org/0000-0003-2358-7038"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Xiao HAN","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST),Tsukuba,Ibaraki,Japan,305-8568"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST),Tsukuba,Ibaraki,Japan,305-8568","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006972026","display_name":"Kohji Tomita","orcid":"https://orcid.org/0000-0001-9796-0443"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kohji TOMITA","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST),Tsukuba,Ibaraki,Japan,305-8568"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST),Tsukuba,Ibaraki,Japan,305-8568","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088329487","display_name":"Akiya Kamimura","orcid":"https://orcid.org/0000-0002-0046-5639"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akiya KAMIMURA","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST),Tsukuba,Ibaraki,Japan,305-8568"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST),Tsukuba,Ibaraki,Japan,305-8568","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"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/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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6582499742507935},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5631217956542969},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.5589165091514587},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5074512362480164},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5069258809089661},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.4895342290401459},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4798545241355896},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.4699913263320923},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4202382564544678},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37423378229141235},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.337408185005188},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24385234713554382},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21680384874343872},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16947636008262634}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6582499742507935},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5631217956542969},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.5589165091514587},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5074512362480164},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5069258809089661},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.4895342290401459},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4798545241355896},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.4699913263320923},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4202382564544678},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37423378229141235},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.337408185005188},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24385234713554382},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21680384874343872},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16947636008262634},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii55687.2023.10039398","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/sii55687.2023.10039398","pdf_url":null,"source":{"id":"https://openalex.org/S4363605654","display_name":"2023 IEEE/SICE International Symposium on System Integration (SII)","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":"2023 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"},{"score":0.44999998807907104,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321034","display_name":"New Energy and Industrial Technology Development Organization","ror":"https://ror.org/0055k7a87"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1523352032","https://openalex.org/W2045304032","https://openalex.org/W2070002675","https://openalex.org/W2106065750","https://openalex.org/W2113029345","https://openalex.org/W2153340051","https://openalex.org/W2306644740","https://openalex.org/W2624712612","https://openalex.org/W2753172468","https://openalex.org/W2786757085","https://openalex.org/W2883383381","https://openalex.org/W2945261046","https://openalex.org/W2994928558","https://openalex.org/W3088721034"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2375684291","https://openalex.org/W2354676191","https://openalex.org/W3188646203","https://openalex.org/W136674370","https://openalex.org/W4386936491","https://openalex.org/W2909957174","https://openalex.org/W4388726836","https://openalex.org/W2153809277","https://openalex.org/W2015961810"],"abstract_inverted_index":{"Autonomous":[0],"control":[1,10,104,171],"technology":[2],"for":[3,27,39,49,163],"multiple":[4,28,108,165],"network-connected":[5],"multi-rotors":[6,54,121],"and":[7,57,95,105,160,172],"simultaneous":[8],"remote":[9],"by":[11,113,133],"few":[12],"operators":[13],"has":[14,46],"applications":[15],"in":[16,20,55,61,174],"disaster":[17],"investigation.":[18],"Challenges":[19],"constructing":[21],"such":[22,34],"a":[23,77,86,115,147,156],"system":[24],"include":[25],"path-planning":[26,51],"multi-rotors.":[29,109],"Accurate":[30],"position":[31],"estimation":[32],"methods":[33],"as":[35],"GNSS":[36],"already":[37],"exist":[38],"outdoor":[40],"self-positioning;":[41],"however,":[42],"no":[43],"optimal":[44],"method":[45],"been":[47],"established":[48],"the":[50,64,90,120,124,139,151],"problem":[52],"involving":[53],"dynamic":[56],"complex":[58,175],"environments.":[59,176],"Herein,":[60],"addition":[62],"to":[63,89],"conventional":[65],"artificial":[66],"potential":[67],"field":[68],"method,":[69,144],"we":[70,99,145],"propose":[71],"an":[72],"extended":[73],"function":[74],"that":[75],"introduces":[76],"rotational":[78],"force":[79],"field,":[80],"which":[81],"enables":[82],"autonomous":[83,101],"navigation":[84,106,173],"from":[85,129,150],"starting":[87],"point":[88],"target":[91],"while":[92],"avoiding":[93],"obstacles":[94],"local":[96],"minima.":[97],"Additionally,":[98],"realized":[100],"decentralized":[102],"formation":[103,170],"with":[107],"This":[110],"was":[111],"achieved":[112],"applying":[114],"virtual":[116],"spring-damper":[117],"model":[118,153],"between":[119],"based":[122],"on":[123],"relative":[125],"distance":[126],"information":[127],"calculated":[128],"global":[130],"positions":[131],"obtained":[132],"inter":[134],"multi-rotor":[135,166],"communication.":[136],"To":[137],"confirm":[138],"practicality":[140],"of":[141,155],"our":[142],"proposed":[143],"generated":[146],"two-dimensional":[148],"map":[149],"three-dimensional":[152],"data":[154],"real":[157],"urban":[158],"area":[159],"conducted":[161],"simulations":[162],"various":[164],"applications,":[167],"successfully":[168],"demonstrating":[169]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}