{"id":"https://openalex.org/W4280551875","doi":"https://doi.org/10.1109/syscon53536.2022.9773824","title":"Influence of Network Topology on UAVs Formation Control based on Distributed Consensus","display_name":"Influence of Network Topology on UAVs Formation Control based on Distributed Consensus","publication_year":2022,"publication_date":"2022-04-25","ids":{"openalex":"https://openalex.org/W4280551875","doi":"https://doi.org/10.1109/syscon53536.2022.9773824"},"language":"en","primary_location":{"id":"doi:10.1109/syscon53536.2022.9773824","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon53536.2022.9773824","pdf_url":null,"source":{"id":"https://openalex.org/S4363608590","display_name":"2022 IEEE International Systems Conference (SysCon)","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 IEEE International Systems Conference (SysCon)","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/A5102841531","display_name":"Fabr\u00edcio C. Souza Xavier","orcid":"https://orcid.org/0000-0001-5088-659X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Fabricio C. Souza","raw_affiliation_strings":["Instituto de Ciência e Tecnologia, Universidade Federal de São Paulo,São José dos Campos,SP,Brazil"],"affiliations":[{"raw_affiliation_string":"Instituto de Ciência e Tecnologia, Universidade Federal de São Paulo,São José dos Campos,SP,Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038255320","display_name":"Sergio R. Barros Dos Santos","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sergio R. Barros Dos Santos","raw_affiliation_strings":["Instituto de Ciência e Tecnologia, Universidade Federal de São Paulo,São José dos Campos,SP,Brazil"],"affiliations":[{"raw_affiliation_string":"Instituto de Ciência e Tecnologia, Universidade Federal de São Paulo,São José dos Campos,SP,Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075154234","display_name":"Andr\u00e9 M. de Oliveira","orcid":"https://orcid.org/0000-0003-4351-3896"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Andre M. de Oliveira","raw_affiliation_strings":["Instituto de Ciência e Tecnologia, Universidade Federal de São Paulo,São José dos Campos,SP,Brazil"],"affiliations":[{"raw_affiliation_string":"Instituto de Ciência e Tecnologia, Universidade Federal de São Paulo,São José dos Campos,SP,Brazil","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025867957","display_name":"Sidney Givigi","orcid":"https://orcid.org/0000-0002-3829-3545"},"institutions":[{"id":"https://openalex.org/I204722609","display_name":"Queen's University","ror":"https://ror.org/02y72wh86","country_code":"CA","type":"education","lineage":["https://openalex.org/I204722609"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Sidney N. Givigi","raw_affiliation_strings":["Queen’s University,School of Computing,Kingston,Ontario,Canada"],"affiliations":[{"raw_affiliation_string":"Queen’s University,School of Computing,Kingston,Ontario,Canada","institution_ids":["https://openalex.org/I204722609"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102841531"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5024,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.80262794,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"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":0.9987999796867371,"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/T11896","display_name":"Opportunistic and Delay-Tolerant Networks","score":0.9933000206947327,"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/computer-science","display_name":"Computer science","score":0.7507855296134949},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.7256695032119751},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.668343722820282},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.614421546459198},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6114846467971802},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5236480236053467},{"id":"https://openalex.org/keywords/consensus","display_name":"Consensus","score":0.5020473003387451},{"id":"https://openalex.org/keywords/telecommunications-network","display_name":"Telecommunications network","score":0.46056869626045227},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.43789416551589966},{"id":"https://openalex.org/keywords/logical-topology","display_name":"Logical topology","score":0.4250350892543793},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.3795281648635864},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.21112710237503052},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12373188138008118},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10023513436317444}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7507855296134949},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.7256695032119751},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.668343722820282},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.614421546459198},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6114846467971802},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5236480236053467},{"id":"https://openalex.org/C107107730","wikidata":"https://www.wikidata.org/wiki/Q2994424","display_name":"Consensus","level":3,"score":0.5020473003387451},{"id":"https://openalex.org/C192126672","wikidata":"https://www.wikidata.org/wiki/Q1068715","display_name":"Telecommunications network","level":2,"score":0.46056869626045227},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.43789416551589966},{"id":"https://openalex.org/C117729477","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Logical topology","level":3,"score":0.4250350892543793},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.3795281648635864},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.21112710237503052},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12373188138008118},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10023513436317444},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical 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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/syscon53536.2022.9773824","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon53536.2022.9773824","pdf_url":null,"source":{"id":"https://openalex.org/S4363608590","display_name":"2022 IEEE International Systems Conference (SysCon)","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 IEEE International Systems Conference (SysCon)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321091","display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","ror":"https://ror.org/00x0ma614"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1501966803","https://openalex.org/W1563233701","https://openalex.org/W1762161369","https://openalex.org/W1778911478","https://openalex.org/W1864806140","https://openalex.org/W1908452828","https://openalex.org/W1970786657","https://openalex.org/W1973963158","https://openalex.org/W1981826826","https://openalex.org/W1985286768","https://openalex.org/W2002836295","https://openalex.org/W2008620264","https://openalex.org/W2010443698","https://openalex.org/W2018049970","https://openalex.org/W2018284512","https://openalex.org/W2033545621","https://openalex.org/W2049469976","https://openalex.org/W2079249315","https://openalex.org/W2105625336","https://openalex.org/W2107396783","https://openalex.org/W2112090702","https://openalex.org/W2119120935","https://openalex.org/W2119382550","https://openalex.org/W2126568382","https://openalex.org/W2130647945","https://openalex.org/W2134953154","https://openalex.org/W2136651788","https://openalex.org/W2143322577","https://openalex.org/W2144954802","https://openalex.org/W2148909409","https://openalex.org/W2167259140","https://openalex.org/W2228560494","https://openalex.org/W2887927912","https://openalex.org/W2896632597","https://openalex.org/W2897535837","https://openalex.org/W2901536281","https://openalex.org/W3128558005","https://openalex.org/W3128792537","https://openalex.org/W4238591275","https://openalex.org/W4241669766","https://openalex.org/W6609457598","https://openalex.org/W6652653890","https://openalex.org/W6678581706","https://openalex.org/W6681963679","https://openalex.org/W6684296843"],"related_works":["https://openalex.org/W1879279916","https://openalex.org/W2075497702","https://openalex.org/W2509134443","https://openalex.org/W2980831244","https://openalex.org/W1598820299","https://openalex.org/W2552322538","https://openalex.org/W4315574176","https://openalex.org/W2079049982","https://openalex.org/W2292721517","https://openalex.org/W2033417366"],"abstract_inverted_index":{"In":[0],"the":[1,51,57,60,66,77,82,88,112,122,127,146,152,160,169,172,180,189],"task":[2,67],"of":[3,32,68,81,117,126,145,162,171],"formation":[4,128,156],"control,":[5],"there":[6],"are":[7,99],"many":[8],"autonomous":[9],"agents":[10,27],"with":[11,16,135],"detection":[12],"and":[13,49,79,114,119,124,155,166,175,188],"communication":[14,38,61,84,94,181,196],"capabilities,":[15],"positions":[17],"defined":[18],"in":[19,72,107,185],"different":[20,143],"reference":[21,47],"coordinates.":[22],"Through":[23],"a":[24,29,37,46,102,108,136],"consensus":[25,90,133],"algorithm,":[26],"reach":[28],"common":[30],"understanding":[31],"information":[33],"shared":[34],"locally":[35],"through":[36],"topology,":[39],"allowing":[40],"UAVs":[41,118],"to":[42,179],"move":[43],"while":[44],"following":[45],"trajectory":[48,154],"maintaining":[50],"desired":[52],"geometric":[53],"configuration.":[54],"Motivated":[55],"by":[56],"fact":[58],"that":[59],"topology":[62,86,149],"is":[63],"essential":[64],"for":[65,111,121,142],"coordinating":[69],"multi-agent":[70,103],"systems,":[71],"this":[73,177,186],"article":[74],"we":[75],"investigate":[76],"influence":[78],"characteristics":[80],"fixed":[83],"network":[85,95,148,182],"on":[87,132],"distributed":[89,134,173],"performance,":[91],"considering":[92],"four":[93],"models.":[96],"The":[97],"simulations":[98,141],"performed":[100,140],"using":[101,151],"software-in-the-loop":[104],"simulation":[105,116,163],"platform":[106],"ROS/Gazebo":[109],"architecture":[110],"control":[113,129],"three-dimensional":[115],"Matlab/Simulink":[120],"implementation":[123],"execution":[125],"algorithm":[130],"based":[131],"leader-follower":[137],"approach.":[138],"We":[139,158],"parameters":[144],"considered":[147,184],"models,":[150],"same":[153],"shape.":[157],"present":[159],"results":[161],"tests,":[164],"visually":[165],"quantitatively":[167],"evaluating":[168],"performance":[170,178],"consensus,":[174],"relating":[176],"models":[183],"work":[187],"metrics":[190],"extracted":[191],"from":[192],"these":[193],"randomly":[194],"generated":[195],"topologies.":[197]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}