{"id":"https://openalex.org/W2811362836","doi":"https://doi.org/10.1109/tac.2012.2191319","title":"Sufficient Conditions for Decentralized Potential Functions Based Controllers Using Canonical Vector Fields","display_name":"Sufficient Conditions for Decentralized Potential Functions Based Controllers Using Canonical Vector Fields","publication_year":2012,"publication_date":"2012-03-19","ids":{"openalex":"https://openalex.org/W2811362836","doi":"https://doi.org/10.1109/tac.2012.2191319","mag":"2811362836"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2012.2191319","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2012.2191319","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-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/A5055348953","display_name":"Dimos V. Dimarogonas","orcid":"https://orcid.org/0000-0001-7309-8086"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Dimos V. Dimarogonas","raw_affiliation_strings":["ACCESS Linnaeus Center, School of Electrical Engineering, Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"ACCESS Linnaeus Center, School of Electrical Engineering, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5055348953"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":2.6011,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.90854357,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"57","issue":"10","first_page":"2621","last_page":"2626"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9995999932289124,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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/hessian-matrix","display_name":"Hessian matrix","score":0.8095874190330505},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.7068115472793579},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7039656043052673},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.49564969539642334},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.49253520369529724},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.48836061358451843},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4869740903377533},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.45776939392089844},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.45426976680755615},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4490059018135071},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.4252054691314697},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3893415331840515},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.36332035064697266},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.27812641859054565},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.15462976694107056},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14532583951950073},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12083175778388977},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11820027232170105}],"concepts":[{"id":"https://openalex.org/C203616005","wikidata":"https://www.wikidata.org/wiki/Q620495","display_name":"Hessian matrix","level":2,"score":0.8095874190330505},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.7068115472793579},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7039656043052673},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.49564969539642334},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.49253520369529724},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.48836061358451843},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4869740903377533},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.45776939392089844},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.45426976680755615},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4490059018135071},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.4252054691314697},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3893415331840515},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36332035064697266},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.27812641859054565},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.15462976694107056},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14532583951950073},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12083175778388977},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11820027232170105},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tac.2012.2191319","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2012.2191319","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.712.2385","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.712.2385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://people.kth.se/%7Edimos/CanonTAC.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W100354579","https://openalex.org/W2010258774","https://openalex.org/W2032231388","https://openalex.org/W2044709959","https://openalex.org/W2045938917","https://openalex.org/W2046344033","https://openalex.org/W2056549180","https://openalex.org/W2056751949","https://openalex.org/W2076738229","https://openalex.org/W2103120971","https://openalex.org/W2117219981","https://openalex.org/W2119470215","https://openalex.org/W2130461596","https://openalex.org/W2147844268","https://openalex.org/W2152855691","https://openalex.org/W2153215434","https://openalex.org/W2154493443","https://openalex.org/W2156301326","https://openalex.org/W2160681648","https://openalex.org/W2168520354","https://openalex.org/W6604081787","https://openalex.org/W6683467144"],"related_works":["https://openalex.org/W2611031068","https://openalex.org/W1704347466","https://openalex.org/W1996936972","https://openalex.org/W4283017538","https://openalex.org/W1545275724","https://openalex.org/W2802707792","https://openalex.org/W2569979269","https://openalex.org/W2075777916","https://openalex.org/W3021699548","https://openalex.org/W4291718021"],"abstract_inverted_index":{"A":[0],"combination":[1],"of":[2,8,21,25,52,55,59,68,71,83,87,90,108],"dual":[3],"Lyapunov":[4],"analysis":[5],"and":[6,30],"properties":[7,20],"decentralized":[9,26,91],"navigation":[10,29,92],"function":[11,93],"based":[12,94],"controllers":[13,27],"is":[14,97],"used":[15],"to":[16,49,74],"check":[17],"the":[18,50,53,56,60,64,72,84,101,105],"stability":[19],"a":[22,40],"certain":[23],"class":[24,89,107],"for":[28,104],"collision":[31],"avoidance":[32],"in":[33],"multiagent":[34],"systems.":[35],"The":[36],"derived":[37],"results":[38,103],"yield":[39],"less":[41,98],"conservative":[42,99],"condition":[43],"from":[44],"previous":[45,102],"approaches,":[46],"which":[47,96],"relates":[48],"negativity":[51],"sum":[54],"minimum":[57],"eigenvalues":[58,73],"Hessian":[61],"matrices":[62],"at":[63],"critical":[65],"points,":[66],"instead":[67],"requiring":[69],"each":[70],"be":[75],"negative":[76],"itself.":[77],"This":[78],"provides":[79],"an":[80],"improved":[81],"characterization":[82],"reachable":[85],"set":[86],"this":[88],"controllers,":[95],"than":[100],"same":[106],"controllers.":[109]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
