{"id":"https://openalex.org/W2624295978","doi":"https://doi.org/10.1109/tac.2017.2712758","title":"Limit-Cycle-Based Decoupled Design of Circle Formation Control with Collision Avoidance for Anonymous Agents in a Plane","display_name":"Limit-Cycle-Based Decoupled Design of Circle Formation Control with Collision Avoidance for Anonymous Agents in a Plane","publication_year":2017,"publication_date":"2017-06-07","ids":{"openalex":"https://openalex.org/W2624295978","doi":"https://doi.org/10.1109/tac.2017.2712758","mag":"2624295978"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2017.2712758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2017.2712758","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/A5001586420","display_name":"Chen Wang","orcid":"https://orcid.org/0000-0002-4484-8885"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Wang","raw_affiliation_strings":["State Key Laboratory of Turbulence and Complex Systems, Peking University, Beijing, China","State Key Laboratory of Turbulence and Complex Systems, Center for Systems and Control, College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Turbulence and Complex Systems, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"State Key Laboratory of Turbulence and Complex Systems, Center for Systems and Control, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044920558","display_name":"Guangming Xie","orcid":"https://orcid.org/0000-0001-6504-0087"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangming Xie","raw_affiliation_strings":["State Key Laboratory of Turbulence and Complex Systems, Peking University, Beijing, China","State Key Laboratory of Turbulence and Complex Systems, Center for Systems and Control, College of Engineering, Institute of Ocean Research, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Turbulence and Complex Systems, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"State Key Laboratory of Turbulence and Complex Systems, Center for Systems and Control, College of Engineering, Institute of Ocean Research, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.5211,"has_fulltext":false,"cited_by_count":105,"citation_normalized_percentile":{"value":0.97008653,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"62","issue":"12","first_page":"6560","last_page":"6567"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9794999957084656,"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/T10246","display_name":"Mobile Ad Hoc Networks","score":0.9787999987602234,"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/limit-cycle","display_name":"Limit cycle","score":0.719124972820282},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6908734440803528},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6257684826850891},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6216434240341187},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.6192799210548401},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5289385914802551},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5263862609863281},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.5154677033424377},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48563066124916077},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.45946550369262695},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4421062469482422},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.436490923166275},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.41617411375045776},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3413507044315338},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31888335943222046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19003930687904358},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1654229462146759},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1398814618587494},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1097160279750824}],"concepts":[{"id":"https://openalex.org/C93357160","wikidata":"https://www.wikidata.org/wiki/Q1545916","display_name":"Limit cycle","level":3,"score":0.719124972820282},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6908734440803528},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6257684826850891},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6216434240341187},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.6192799210548401},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5289385914802551},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5263862609863281},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.5154677033424377},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48563066124916077},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.45946550369262695},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4421062469482422},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.436490923166275},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41617411375045776},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3413507044315338},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31888335943222046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19003930687904358},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1654229462146759},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1398814618587494},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1097160279750824},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2017.2712758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2017.2712758","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1624824030","display_name":null,"funder_award_id":"2016T90016","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G2616550356","display_name":"\u8fd1\u6d45\u6d77\u6c34\u4e0b\u6355\u635e\u673a\u5668\u4eba\u7684\u57fa\u7840\u7406\u8bba\u4e0e\u5173\u952e\u6280\u672f\u7814\u7a76","funder_award_id":"61633002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5683280177","display_name":null,"funder_award_id":"2015M570013","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G6462188312","display_name":null,"funder_award_id":"91648120","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G649634298","display_name":null,"funder_award_id":"51575005","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7830325023","display_name":null,"funder_award_id":"61503008","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W40650588","https://openalex.org/W391578156","https://openalex.org/W1788292158","https://openalex.org/W1965243636","https://openalex.org/W1981209947","https://openalex.org/W1981826826","https://openalex.org/W2015008374","https://openalex.org/W2038014752","https://openalex.org/W2044484214","https://openalex.org/W2058339219","https://openalex.org/W2072931689","https://openalex.org/W2073076713","https://openalex.org/W2073665503","https://openalex.org/W2091446596","https://openalex.org/W2094611631","https://openalex.org/W2095453748","https://openalex.org/W2105837036","https://openalex.org/W2106353989","https://openalex.org/W2111638077","https://openalex.org/W2122015500","https://openalex.org/W2157430843","https://openalex.org/W2157572729","https://openalex.org/W2287560819","https://openalex.org/W2527565459","https://openalex.org/W2569098658","https://openalex.org/W3182674124","https://openalex.org/W6674445081"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W4317634134","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311"],"abstract_inverted_index":{"We":[0,88],"study":[1],"the":[2,18,32,39,46,49,64,68,78,90,98,108,111,114,123,161,165,168,175,179,186,201,210,213,222,227,248,253],"circle":[3,26,79,109,255],"formation":[4,80,256],"problem":[5],"for":[6],"a":[7,14,25,28,57,82,134,156],"group":[8],"of":[9,67,137,185,209,252],"anonymous":[10],"mobile":[11],"agents":[12,19,105,196],"in":[13,16,212,239],"plane,":[15],"which":[17],"are":[20,244],"required":[21],"to":[22,37,76,132,143,221,246],"converge":[23,106],"onto":[24,107],"with":[27,145],"preset":[29],"target":[30,47,69,101],"as":[31,34,36,56],"center,":[33],"well":[35],"maintain":[38],"desired":[40,124],"relative":[41,65,162,176],"positions":[42,66],"when":[43],"rotating":[44,224],"around":[45,110,226],"at":[48],"same":[50],"speed.":[51],"Each":[52],"agent":[53,121],"is":[54,86,100,116,153,170,188,206],"modeled":[55],"kinematic":[58],"point":[59],"and":[60,70,113,140,167,237,250],"can":[61,232],"merely":[62],"perceive":[63],"its":[71,127],"limited":[72],"neighbors.":[73,128,181],"In":[74],"order":[75],"solve":[77],"problem,":[81],"limit-cycle-based":[83],"decoupled-design":[84],"approach":[85],"delivered.":[87],"divide":[89],"overall":[91],"control":[92],"objective":[93],"into":[94],"two":[95,147],"subobjectives,":[96,148],"where":[97],"first":[99],"circling":[102],"that":[103,119,189,192,207,230],"all":[104],"target,":[112,166,228],"second":[115],"spacing":[117],"adjustment":[118],"each":[120],"maintains":[122],"distance":[125],"from":[126,164,178],"Then,":[129],"we":[130],"propose":[131],"use":[133],"controller":[135,187,215],"comprised":[136],"converging":[138],"part":[139,142,152],"layout":[141],"deal":[144],"these":[146],"respectively.":[149],"The":[150],"former":[151],"based":[154],"on":[155],"limit-cycle":[157],"oscillator":[158],"using":[159],"only":[160],"position":[163,177],"latter":[169],"designed":[171],"by":[172],"also":[173],"perceiving":[174],"agent's":[180],"An":[182],"important":[183],"feature":[184,205],"it":[190],"guarantees":[191],"no":[193],"collision":[194],"between":[195],"ever":[197],"takes":[198],"place":[199],"throughout":[200],"system's":[202],"evolution.":[203],"Another":[204],"some":[208],"parameters":[211],"proposed":[214,254],"have":[216],"explicit":[217],"physical":[218],"meanings":[219],"related":[220],"agents'":[223],"motion":[225],"so":[229],"they":[231],"be":[233],"set":[234],"more":[235],"reasonable":[236],"easily":[238],"real":[240],"applications.":[241],"Numerical":[242],"simulations":[243],"given":[245],"show":[247],"effectiveness":[249],"performance":[251],"controller.":[257]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
