{"id":"https://openalex.org/W2796974626","doi":"https://doi.org/10.1109/tac.2018.2836022","title":"Bearing-Based Formation Control of A Group of Agents with Leader-First Follower Structure","display_name":"Bearing-Based Formation Control of A Group of Agents with Leader-First Follower Structure","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W2796974626","doi":"https://doi.org/10.1109/tac.2018.2836022","mag":"2796974626"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2018.2836022","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2018.2836022","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":"http://hdl.handle.net/1885/157001","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025452307","display_name":"Minh Hoang Trinh","orcid":"https://orcid.org/0000-0001-5736-6693"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Minh Hoang Trinh","raw_affiliation_strings":["Distributed Control and Autonomous Systems Laboratory, Gwangju Institute of Science and Technology, Gwangju, South Korea"],"affiliations":[{"raw_affiliation_string":"Distributed Control and Autonomous Systems Laboratory, Gwangju Institute of Science and Technology, Gwangju, South Korea","institution_ids":["https://openalex.org/I39534123"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052346042","display_name":"Shiyu Zhao","orcid":"https://orcid.org/0000-0003-3098-8059"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Shiyu Zhao","raw_affiliation_strings":["Department of Automatic Control and Systems Engineering, The University of Sheffield, Sheffield, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control and Systems Engineering, The University of Sheffield, Sheffield, U.K","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100778346","display_name":"Zhiyong Sun","orcid":"https://orcid.org/0000-0002-4700-1479"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Zhiyong Sun","raw_affiliation_strings":["Data61-CSIRO (formerly NICTA) and Research School of Engineering, The Australian National University, Canberra ACT, Australia"],"affiliations":[{"raw_affiliation_string":"Data61-CSIRO (formerly NICTA) and Research School of Engineering, The Australian National University, Canberra ACT, Australia","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679","https://openalex.org/I118347636"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047488984","display_name":"Daniel Zelazo","orcid":"https://orcid.org/0000-0002-2931-245X"},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Daniel Zelazo","raw_affiliation_strings":["Faculty of Aerospace Engineering, Technion\u2014Israel Institute of Technology, Haifa, Israel"],"affiliations":[{"raw_affiliation_string":"Faculty of Aerospace Engineering, Technion\u2014Israel Institute of Technology, Haifa, Israel","institution_ids":["https://openalex.org/I174306211"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015736743","display_name":"Brian D. O. Anderson","orcid":"https://orcid.org/0000-0002-1493-4774"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Brian D.O. Anderson","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003982643","display_name":"Hyo\u2010Sung Ahn","orcid":"https://orcid.org/0000-0002-7939-0093"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyo-Sung Ahn","raw_affiliation_strings":["Distributed Control and Autonomous Systems Laboratory, Gwangju Institute of Science and Technology, Gwangju, South Korea"],"affiliations":[{"raw_affiliation_string":"Distributed Control and Autonomous Systems Laboratory, Gwangju Institute of Science and Technology, Gwangju, South Korea","institution_ids":["https://openalex.org/I39534123"]}]}],"institutions":[],"countries_distinct_count":5,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5025452307"],"corresponding_institution_ids":["https://openalex.org/I39534123"],"apc_list":null,"apc_paid":null,"fwci":14.0697,"has_fulltext":false,"cited_by_count":176,"citation_normalized_percentile":{"value":0.99026975,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"1"},"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/T10482","display_name":"Mathematical and Theoretical Epidemiology and Ecology Models","score":0.98580002784729,"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/T11187","display_name":"Nonlinear Dynamics and Pattern Formation","score":0.9847999811172485,"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/bearing","display_name":"Bearing (navigation)","score":0.8082104921340942},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6831550598144531},{"id":"https://openalex.org/keywords/group","display_name":"Group (periodic table)","score":0.6282111406326294},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5780892968177795},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.45340484380722046},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4273570477962494},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37432825565338135},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34999993443489075},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2071998417377472},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.12835732102394104}],"concepts":[{"id":"https://openalex.org/C199978012","wikidata":"https://www.wikidata.org/wiki/Q1273815","display_name":"Bearing (navigation)","level":2,"score":0.8082104921340942},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6831550598144531},{"id":"https://openalex.org/C2781311116","wikidata":"https://www.wikidata.org/wiki/Q83306","display_name":"Group (periodic table)","level":2,"score":0.6282111406326294},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5780892968177795},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.45340484380722046},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4273570477962494},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37432825565338135},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34999993443489075},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2071998417377472},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.12835732102394104},{"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/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tac.2018.2836022","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2018.2836022","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:eprints.whiterose.ac.uk:128970","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:openresearch-repository.anu.edu.au:1885/157001","is_oa":true,"landing_page_url":"http://hdl.handle.net/1885/157001","pdf_url":null,"source":{"id":"https://openalex.org/S4306402539","display_name":"ANU Open Research (Australian National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I118347636","host_organization_name":"Australian National University","host_organization_lineage":["https://openalex.org/I118347636"],"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","raw_type":"Journal article"},{"id":"pmh:oai:openresearch-repository.anu.edu.au:1885/188458","is_oa":false,"landing_page_url":"http://hdl.handle.net/1885/188458","pdf_url":null,"source":{"id":"https://openalex.org/S4306402539","display_name":"ANU Open Research (Australian National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I118347636","host_organization_name":"Australian National University","host_organization_lineage":["https://openalex.org/I118347636"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"Journal article"}],"best_oa_location":{"id":"pmh:oai:openresearch-repository.anu.edu.au:1885/157001","is_oa":true,"landing_page_url":"http://hdl.handle.net/1885/157001","pdf_url":null,"source":{"id":"https://openalex.org/S4306402539","display_name":"ANU Open Research (Australian National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I118347636","host_organization_name":"Australian National University","host_organization_lineage":["https://openalex.org/I118347636"],"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","raw_type":"Journal article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6000000238418579}],"awards":[{"id":"https://openalex.org/G3034753964","display_name":null,"funder_award_id":"grant","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G7402850504","display_name":null,"funder_award_id":"NRF-2017R1A2B3007034","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"}],"funders":[{"id":"https://openalex.org/F4320320386","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07"},{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320323278","display_name":"Council for Higher Education","ror":"https://ror.org/036mqp197"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W613360614","https://openalex.org/W1495971413","https://openalex.org/W1635192251","https://openalex.org/W1979432817","https://openalex.org/W1981826826","https://openalex.org/W1989746389","https://openalex.org/W1990304174","https://openalex.org/W1994122308","https://openalex.org/W2002655995","https://openalex.org/W2011446272","https://openalex.org/W2011511458","https://openalex.org/W2016411453","https://openalex.org/W2026661126","https://openalex.org/W2031489836","https://openalex.org/W2034316458","https://openalex.org/W2038804617","https://openalex.org/W2048723778","https://openalex.org/W2050214441","https://openalex.org/W2053741158","https://openalex.org/W2060791715","https://openalex.org/W2067707207","https://openalex.org/W2105779085","https://openalex.org/W2119860009","https://openalex.org/W2130532917","https://openalex.org/W2138296912","https://openalex.org/W2141070637","https://openalex.org/W2141562024","https://openalex.org/W2148993855","https://openalex.org/W2151928862","https://openalex.org/W2154493443","https://openalex.org/W2164144566","https://openalex.org/W2246482514","https://openalex.org/W2248946215","https://openalex.org/W2299998859","https://openalex.org/W2317187743","https://openalex.org/W2328033575","https://openalex.org/W2334548947","https://openalex.org/W2336676057","https://openalex.org/W2496562802","https://openalex.org/W2536676093","https://openalex.org/W2569500671","https://openalex.org/W2604559438","https://openalex.org/W2755133879","https://openalex.org/W2766238518","https://openalex.org/W2963196424","https://openalex.org/W2975387585","https://openalex.org/W3106043943","https://openalex.org/W6652936435","https://openalex.org/W6745586470"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2378318752","https://openalex.org/W2391356858","https://openalex.org/W2384796963","https://openalex.org/W2392817493","https://openalex.org/W2776290616","https://openalex.org/W2418777374","https://openalex.org/W2353036567","https://openalex.org/W2035155918","https://openalex.org/W1522672041"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"bearing-based":[3,25],"formation":[4,34,63],"control":[5,43],"of":[6,9,31],"a":[7,52],"group":[8],"autonomous":[10],"agents":[11],"with":[12],"the":[13,24,32,61,74],"leader-first":[14],"follower":[15],"(LFF)":[16],"structure":[17],"in":[18],"an":[19],"arbitrary":[20],"dimensional":[21],"space.":[22],"First,":[23],"Henneberg":[26],"construction":[27],"and":[28,40,59],"some":[29],"properties":[30],"LFF":[33,49],"are":[35,64,70],"introduced.":[36],"Then,":[37],"we":[38],"propose":[39],"analyze":[41],"bearing-only":[42],"laws":[44],"that":[45],"almost":[46],"globally":[47],"stabilize":[48],"formations":[50],"to":[51,57,72],"desired":[53],"formation.":[54],"Further":[55],"strategies":[56],"rotate":[58],"rescale":[60],"target":[62],"also":[65],"discussed.":[66],"Finally,":[67],"simulation":[68],"results":[69],"provided":[71],"support":[73],"analysis.":[75]},"counts_by_year":[{"year":2025,"cited_by_count":25},{"year":2024,"cited_by_count":30},{"year":2023,"cited_by_count":30},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":28},{"year":2020,"cited_by_count":19},{"year":2019,"cited_by_count":21},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}