{"id":"https://openalex.org/W2015008374","doi":"https://doi.org/10.1109/tac.2014.2303213","title":"Cooperative Control Design for Time-Varying Formations of Multi-Agent Systems","display_name":"Cooperative Control Design for Time-Varying Formations of Multi-Agent Systems","publication_year":2014,"publication_date":"2014-07-21","ids":{"openalex":"https://openalex.org/W2015008374","doi":"https://doi.org/10.1109/tac.2014.2303213","mag":"2015008374"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2014.2303213","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2014.2303213","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":true,"oa_status":"green","oa_url":"https://hal.science/hal-00932841","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071186574","display_name":"Lara Bri\u00f1\u00f3n-Arranz","orcid":null},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Lara Brinon-Arranz","raw_affiliation_strings":["Laboratory of Robotics and Systems in Engineering and Science (LARSyS), Instituto Superior T\u00e9cnico (IST), University of Lisbon, Portugal","Lab. of Robot. & Syst. in Eng. & Sci. (LARSyS), Univ. of Lisbon, Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"Laboratory of Robotics and Systems in Engineering and Science (LARSyS), Instituto Superior T\u00e9cnico (IST), University of Lisbon, Portugal","institution_ids":["https://openalex.org/I141596103"]},{"raw_affiliation_string":"Lab. of Robot. & Syst. in Eng. & Sci. (LARSyS), Univ. of Lisbon, Lisbon, Portugal","institution_ids":["https://openalex.org/I141596103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029842446","display_name":"Alexandre Seuret","orcid":"https://orcid.org/0000-0003-1434-7614"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Alexandre Seuret","raw_affiliation_strings":["CNRS, LAAS, Toulouse, France","LAAS, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024865861","display_name":"Carlos Canudas de Wit","orcid":"https://orcid.org/0000-0002-5056-0060"},"institutions":[{"id":"https://openalex.org/I4210124956","display_name":"GIPSA-Lab","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Carlos Canudas-de-Wit","raw_affiliation_strings":["CNRS, GIPSA-lab, Grenoble, France","GIPSA-Lab., Grenoble, France"],"affiliations":[{"raw_affiliation_string":"CNRS, GIPSA-lab, Grenoble, France","institution_ids":["https://openalex.org/I4210124956","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"GIPSA-Lab., Grenoble, France","institution_ids":["https://openalex.org/I4210124956"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5071186574"],"corresponding_institution_ids":["https://openalex.org/I141596103"],"apc_list":null,"apc_paid":null,"fwci":15.1965,"has_fulltext":false,"cited_by_count":258,"citation_normalized_percentile":{"value":0.99115935,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"59","issue":"8","first_page":"2283","last_page":"2288"},"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/T10482","display_name":"Mathematical and Theoretical Epidemiology and Ecology Models","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11829","display_name":"Mathematical Biology Tumor Growth","score":0.9887999892234802,"subfield":{"id":"https://openalex.org/subfields/2611","display_name":"Modeling and Simulation"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6770868897438049},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6219455003738403},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5964882373809814},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.5583587288856506},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5351648330688477},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.5175349116325378},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.508103609085083},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.48205193877220154},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.46944352984428406},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4355931878089905},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40477466583251953},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2648000121116638},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1870325803756714},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11552366614341736}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6770868897438049},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6219455003738403},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5964882373809814},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.5583587288856506},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5351648330688477},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5175349116325378},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.508103609085083},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.48205193877220154},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.46944352984428406},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4355931878089905},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40477466583251953},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2648000121116638},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1870325803756714},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11552366614341736},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tac.2014.2303213","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2014.2303213","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:HAL:hal-00932841v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00932841","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automatic Control, 2014, 59 (8), pp.2283-2288. &#x27E8;10.1109/TAC.2014.2303213&#x27E9;","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-00932841v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00932841","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automatic Control, 2014, 59 (8), pp.2283-2288. &#x27E8;10.1109/TAC.2014.2303213&#x27E9;","raw_type":"Journal articles"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2015896235","https://openalex.org/W2025800439","https://openalex.org/W2039245308","https://openalex.org/W2050583759","https://openalex.org/W2069408494","https://openalex.org/W2099901267","https://openalex.org/W2107396783","https://openalex.org/W2109814287","https://openalex.org/W2111669602","https://openalex.org/W2122727364","https://openalex.org/W2125959904","https://openalex.org/W2134399407","https://openalex.org/W2137642864","https://openalex.org/W2139504267","https://openalex.org/W2141893113","https://openalex.org/W2155686036","https://openalex.org/W2158286448","https://openalex.org/W2159826786","https://openalex.org/W2160643434"],"related_works":["https://openalex.org/W2084086966","https://openalex.org/W2038416447","https://openalex.org/W2364151838","https://openalex.org/W2023861399","https://openalex.org/W2066926363","https://openalex.org/W2354159744","https://openalex.org/W2351539857","https://openalex.org/W2381972071","https://openalex.org/W4301382669","https://openalex.org/W2626306547"],"abstract_inverted_index":{"This":[0],"paper":[1],"deals":[2],"with":[3],"cooperative":[4,77],"control":[5,12,33,71],"design":[6,34],"for":[7],"nonlinear":[8],"multi-agent":[9,40],"systems.":[10],"The":[11],"objective":[13],"is":[14,35],"to":[15,37,42,60,64,79],"ensure":[16],"that":[17],"a":[18,23,31,43,47,53,76],"group":[19],"of":[20],"agents":[21,82],"reaches":[22],"formation":[24],"characterized":[25],"by":[26],"external":[27],"time-varying":[28,48,67],"parameters.":[29],"First,":[30],"translation":[32],"presented":[36],"stabilize":[38],"the":[39,81,85],"system":[41],"circular":[44],"motion":[45],"tracking":[46],"center.":[49],"Then,":[50],"we":[51],"propose":[52],"new":[54],"framework":[55],"based":[56],"on":[57],"affine":[58],"transformations":[59],"extend":[61],"previous":[62],"results":[63],"more":[65],"complex":[66],"formations.":[68],"Moreover,":[69],"both":[70],"laws":[72],"are":[73],"improved":[74],"adding":[75],"term":[78],"distribute":[80],"uniformly":[83],"along":[84],"formation.":[86]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":35},{"year":2022,"cited_by_count":21},{"year":2021,"cited_by_count":29},{"year":2020,"cited_by_count":34},{"year":2019,"cited_by_count":38},{"year":2018,"cited_by_count":27},{"year":2017,"cited_by_count":18},{"year":2016,"cited_by_count":15},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":1}],"updated_date":"2026-03-17T09:09:15.849793","created_date":"2025-10-10T00:00:00"}
