{"id":"https://openalex.org/W2991025517","doi":"https://doi.org/10.1109/smc.2019.8914510","title":"Distributed Multi-Robot Formation Control Based on Two-Layer Nearest Neighbor Information(TNNI) Consensus","display_name":"Distributed Multi-Robot Formation Control Based on Two-Layer Nearest Neighbor Information(TNNI) Consensus","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2991025517","doi":"https://doi.org/10.1109/smc.2019.8914510","mag":"2991025517"},"language":"en","primary_location":{"id":"doi:10.1109/smc.2019.8914510","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2019.8914510","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5086801148","display_name":"Guang Deng","orcid":"https://orcid.org/0000-0003-1803-4578"},"institutions":[{"id":"https://openalex.org/I56934997","display_name":"Changsha University of Science and Technology","ror":"https://ror.org/03yph8055","country_code":"CN","type":"education","lineage":["https://openalex.org/I56934997"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guang Deng","raw_affiliation_strings":["School of electrical and information engineering, Changsha University of Science and Technology, Changsha, Hunan, China"],"affiliations":[{"raw_affiliation_string":"School of electrical and information engineering, Changsha University of Science and Technology, Changsha, Hunan, China","institution_ids":["https://openalex.org/I56934997"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100323420","display_name":"Hui Zhang","orcid":"https://orcid.org/0000-0002-1803-3148"},"institutions":[{"id":"https://openalex.org/I56934997","display_name":"Changsha University of Science and Technology","ror":"https://ror.org/03yph8055","country_code":"CN","type":"education","lineage":["https://openalex.org/I56934997"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Zhang","raw_affiliation_strings":["School of electrical and information engineering, Changsha University of Science and Technology, Changsha, Hunan, China"],"affiliations":[{"raw_affiliation_string":"School of electrical and information engineering, Changsha University of Science and Technology, Changsha, Hunan, China","institution_ids":["https://openalex.org/I56934997"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084391120","display_name":"Hang Zhong","orcid":"https://orcid.org/0000-0001-5893-5026"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Zhong","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013336609","display_name":"Zhiqiang Miao","orcid":"https://orcid.org/0000-0002-0899-1537"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Miao","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100418720","display_name":"Li Liu","orcid":"https://orcid.org/0000-0001-5658-8315"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Liu","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100670021","display_name":"Miao Yu","orcid":"https://orcid.org/0000-0002-6053-7489"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Miao Yu","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100731724","display_name":"Q. M. Jonathan Wu","orcid":"https://orcid.org/0000-0002-5208-7975"},"institutions":[{"id":"https://openalex.org/I74413500","display_name":"University of Windsor","ror":"https://ror.org/01gw3d370","country_code":"CA","type":"education","lineage":["https://openalex.org/I74413500"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Q. M. Jonathan Wu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Windsor, Windsor, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Windsor, Windsor, ON, Canada","institution_ids":["https://openalex.org/I74413500"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5086801148"],"corresponding_institution_ids":["https://openalex.org/I56934997"],"apc_list":null,"apc_paid":null,"fwci":0.3537,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.64708993,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"46","issue":null,"first_page":"1091","last_page":"1097"},"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/T11133","display_name":"UAV Applications and Optimization","score":0.9921000003814697,"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"}},{"id":"https://openalex.org/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.9915000200271606,"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/mobile-robot","display_name":"Mobile robot","score":0.7650375366210938},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7376290559768677},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6837618947029114},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6654613018035889},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.5675572156906128},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.5185023546218872},{"id":"https://openalex.org/keywords/k-nearest-neighbors-algorithm","display_name":"k-nearest neighbors algorithm","score":0.4933580458164215},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.4832230508327484},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4762030839920044},{"id":"https://openalex.org/keywords/swarm-intelligence","display_name":"Swarm intelligence","score":0.46166566014289856},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.41916215419769287},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3985040783882141},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3935718834400177},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.14879342913627625}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7650375366210938},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7376290559768677},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6837618947029114},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6654613018035889},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.5675572156906128},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.5185023546218872},{"id":"https://openalex.org/C113238511","wikidata":"https://www.wikidata.org/wiki/Q1071612","display_name":"k-nearest neighbors algorithm","level":2,"score":0.4933580458164215},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.4832230508327484},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4762030839920044},{"id":"https://openalex.org/C119487961","wikidata":"https://www.wikidata.org/wiki/Q863960","display_name":"Swarm intelligence","level":3,"score":0.46166566014289856},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.41916215419769287},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3985040783882141},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3935718834400177},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.14879342913627625},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc.2019.8914510","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2019.8914510","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)","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":16,"referenced_works":["https://openalex.org/W644218753","https://openalex.org/W2042733674","https://openalex.org/W2080444475","https://openalex.org/W2088995751","https://openalex.org/W2135817819","https://openalex.org/W2152753105","https://openalex.org/W2278415548","https://openalex.org/W2283198471","https://openalex.org/W2409707557","https://openalex.org/W2565704581","https://openalex.org/W2611346233","https://openalex.org/W2627013614","https://openalex.org/W2775110590","https://openalex.org/W2804761573","https://openalex.org/W2891489679","https://openalex.org/W6682577486"],"related_works":["https://openalex.org/W4233987368","https://openalex.org/W65954170","https://openalex.org/W1988876749","https://openalex.org/W2182522217","https://openalex.org/W4386001959","https://openalex.org/W4234675952","https://openalex.org/W2048054807","https://openalex.org/W4304182880","https://openalex.org/W4362659455","https://openalex.org/W2789344126"],"abstract_inverted_index":{"With":[0],"the":[1,20,25,32,67,80,86,94],"development":[2],"of":[3,15,19,27,34,82,98],"artificial":[4],"intelligence,":[5],"robot":[6,40,83,99],"swarm":[7,41],"systems":[8],"also":[9],"frequently":[10],"appear":[11],"in":[12],"complex":[13],"tasks":[14],"different":[16],"situation.":[17],"One":[18],"important":[21],"research":[22],"directions":[23],"is":[24,90],"formation":[26,42,84,87],"multi-robots.":[28],"This":[29],"paper":[30],"analyzes":[31],"limitations":[33],"existing":[35],"algorithms":[36],"for":[37],"large-scale":[38],"mobile":[39,106],"control":[43,49,75,88],"problems":[44],"and":[45,104],"proposes":[46],"a":[47,72],"consensus":[48],"algorithm":[50],"with":[51,71],"two-layer":[52],"nearest":[53],"neighbor":[54],"information.":[55],"It":[56],"carries":[57],"out":[58,92],"experimental":[59,95],"simulation":[60],"to":[61],"verify":[62,109],"its":[63,110],"convergence":[64],"performance.":[65],"At":[66],"same":[68],"time,":[69],"combined":[70],"distributed":[73],"structure":[74],"strategy":[76],"that":[77],"can":[78],"change":[79],"number":[81],"members,":[85],"experiment":[89],"carried":[91],"on":[93],"platform":[96],"consisted":[97],"state":[100],"information":[101],"detection":[102],"device":[103],"multiple":[105],"robots,to":[107],"further":[108],"feasibility.":[111]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}