{"id":"https://openalex.org/W2773060435","doi":"https://doi.org/10.1109/smc.2017.8122949","title":"Formation control of underactuated autonomous vehicles using constraint forces","display_name":"Formation control of underactuated autonomous vehicles using constraint forces","publication_year":2017,"publication_date":"2017-10-01","ids":{"openalex":"https://openalex.org/W2773060435","doi":"https://doi.org/10.1109/smc.2017.8122949","mag":"2773060435"},"language":"en","primary_location":{"id":"doi:10.1109/smc.2017.8122949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2017.8122949","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5079210420","display_name":"Gy\u00f6rgy Max","orcid":null},"institutions":[{"id":"https://openalex.org/I29770179","display_name":"Budapest University of Technology and Economics","ror":"https://ror.org/02w42ss30","country_code":"HU","type":"education","lineage":["https://openalex.org/I29770179"]}],"countries":["HU"],"is_corresponding":true,"raw_author_name":"Gyorgy Max","raw_affiliation_strings":["Department of Control Engineering and Information Technology, Budapest University of Technology and Economics"],"affiliations":[{"raw_affiliation_string":"Department of Control Engineering and Information Technology, Budapest University of Technology and Economics","institution_ids":["https://openalex.org/I29770179"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5114253836","display_name":"B\u00e9la Lantos","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bela Lantos","raw_affiliation_strings":["MTA-BME Control Engineering Research Group, Budapest, Hungary"],"affiliations":[{"raw_affiliation_string":"MTA-BME Control Engineering Research Group, Budapest, Hungary","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5079210420"],"corresponding_institution_ids":["https://openalex.org/I29770179"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.21178951,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2213","last_page":"2218"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9987999796867371,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9973000288009644,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8377183675765991},{"id":"https://openalex.org/keywords/lagrange-multiplier","display_name":"Lagrange multiplier","score":0.6735342144966125},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6684035658836365},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6462432742118835},{"id":"https://openalex.org/keywords/holonomic-constraints","display_name":"Holonomic constraints","score":0.6189050674438477},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5923412442207336},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5277227163314819},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5195234417915344},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.506517767906189},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45793724060058594},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.43092432618141174},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38196268677711487},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3027811050415039},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2948451340198517},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2930372953414917},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23887932300567627},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22241616249084473},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.17802536487579346},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1695951521396637},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.16219928860664368},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1216961145401001},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0929608941078186}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8377183675765991},{"id":"https://openalex.org/C73684929","wikidata":"https://www.wikidata.org/wiki/Q598870","display_name":"Lagrange multiplier","level":2,"score":0.6735342144966125},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6684035658836365},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6462432742118835},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.6189050674438477},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5923412442207336},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5277227163314819},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5195234417915344},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.506517767906189},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45793724060058594},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.43092432618141174},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38196268677711487},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3027811050415039},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2948451340198517},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2930372953414917},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23887932300567627},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22241616249084473},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.17802536487579346},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1695951521396637},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.16219928860664368},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1216961145401001},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0929608941078186},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc.2017.8122949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2017.8122949","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6600000262260437,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323476","display_name":"Emberi Eroforr\u00e1sok Miniszt\u00e9riuma","ror":"https://ror.org/00rb16m44"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W634260532","https://openalex.org/W1027473064","https://openalex.org/W1552812628","https://openalex.org/W1569339351","https://openalex.org/W1657463834","https://openalex.org/W1949558822","https://openalex.org/W1976486181","https://openalex.org/W2030056867","https://openalex.org/W2096145949","https://openalex.org/W2105079510","https://openalex.org/W2119959427","https://openalex.org/W2123883273","https://openalex.org/W2125526812","https://openalex.org/W2137549436","https://openalex.org/W2146737909","https://openalex.org/W2152982075","https://openalex.org/W2156224814","https://openalex.org/W2274304191","https://openalex.org/W2289542002","https://openalex.org/W6682408861"],"related_works":["https://openalex.org/W2154502479","https://openalex.org/W2127776540","https://openalex.org/W76235543","https://openalex.org/W45593259","https://openalex.org/W641237144","https://openalex.org/W1973747674","https://openalex.org/W4378942199","https://openalex.org/W2074786897","https://openalex.org/W2018918536","https://openalex.org/W2183446508"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"a":[3],"novel":[4],"formation":[5],"control":[6,49,69,105],"frame-work":[7],"is":[8,25,51,84],"presented":[9],"for":[10,53,95],"unmanned":[11],"autonomous":[12],"ground":[13],"vehicles":[14],"based":[15],"on":[16],"analytical":[17],"mechanics":[18],"and":[19,46,76,91],"multibody":[20],"interpretation.":[21],"The":[22,68],"coordinated":[23],"motion":[24],"achieved":[26],"by":[27,64],"introducing":[28],"holonomic":[29],"constraint":[30,44,89],"functions":[31,40,90],"that":[32],"describe":[33],"the":[34,37,47,54,62,80,88,101,104],"interaction":[35],"between":[36],"vehicles.":[38],"These":[39],"are":[41],"interpreted":[42],"as":[43],"forces":[45],"decentralized":[48],"law":[50],"determined":[52],"input":[55],"affine":[56],"linear":[57],"parameter":[58],"varying":[59],"model":[60],"of":[61,79,103],"vehicle":[63],"Lagrange":[65],"multiplier":[66],"method.":[67],"design":[70],"takes":[71],"into":[72],"account":[73],"both":[74],"underactuation":[75],"inertial":[77],"properties":[78],"vehicle,":[81],"moreover,":[82],"it":[83],"highly":[85],"configurable":[86],"through":[87,107],"can":[92],"be":[93],"applied":[94],"various":[96],"scenarios.":[97],"Simulation":[98],"results":[99],"show":[100],"efficiency":[102],"system":[106],"realistic":[108],"high":[109],"velocity":[110],"maneuvers.":[111]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}