{"id":"https://openalex.org/W3131776891","doi":"https://doi.org/10.1109/tac.2021.3059677","title":"Gauss's Principle With Inequality Constraints for Multiagent Navigation and Control","display_name":"Gauss's Principle With Inequality Constraints for Multiagent Navigation and Control","publication_year":2021,"publication_date":"2021-02-18","ids":{"openalex":"https://openalex.org/W3131776891","doi":"https://doi.org/10.1109/tac.2021.3059677","mag":"3131776891"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2021.3059677","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2021.3059677","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":null,"display_name":"Boyang Zhang","orcid":"https://orcid.org/0000-0003-2040-9957"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Boyang Zhang","raw_affiliation_strings":["Department of Civil and Environmental Engineering, Duke University, Durham, NC, USA"],"raw_orcid":"https://orcid.org/0000-0003-2040-9957","affiliations":[{"raw_affiliation_string":"Department of Civil and Environmental Engineering, Duke University, Durham, NC, USA","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068037818","display_name":"Henri P. Gavin","orcid":"https://orcid.org/0000-0001-6200-8022"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Henri P. Gavin","raw_affiliation_strings":["Department of Civil and Environmental Engineering, Duke University, Durham, NC, USA"],"raw_orcid":"https://orcid.org/0000-0001-6200-8022","affiliations":[{"raw_affiliation_string":"Department of Civil and Environmental Engineering, Duke University, Durham, NC, USA","institution_ids":["https://openalex.org/I170897317"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I170897317"],"apc_list":null,"apc_paid":null,"fwci":1.4434,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.82242322,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"67","issue":"2","first_page":"810","last_page":"823"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9998000264167786,"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":0.9961000084877014,"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/multi-agent-system","display_name":"Multi-agent system","score":0.5524079203605652},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5342350006103516},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5233998894691467},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5079012513160706},{"id":"https://openalex.org/keywords/gauss","display_name":"Gauss","score":0.46842706203460693},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43779274821281433},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.419309139251709},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.38463085889816284},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.34995612502098083},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25568634271621704},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14896851778030396}],"concepts":[{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.5524079203605652},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5342350006103516},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5233998894691467},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5079012513160706},{"id":"https://openalex.org/C161794534","wikidata":"https://www.wikidata.org/wiki/Q177493","display_name":"Gauss","level":2,"score":0.46842706203460693},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43779274821281433},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.419309139251709},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.38463085889816284},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.34995612502098083},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25568634271621704},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14896851778030396},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/tac.2021.3059677","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2021.3059677","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/G4126658222","display_name":null,"funder_award_id":"75\u00a0568-NS-II","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"}],"funders":[{"id":"https://openalex.org/F4320309133","display_name":"Duke University","ror":"https://ror.org/00py81415"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W131130942","https://openalex.org/W192919555","https://openalex.org/W1552812628","https://openalex.org/W1601512022","https://openalex.org/W1965760189","https://openalex.org/W1975537977","https://openalex.org/W1977085506","https://openalex.org/W1977512600","https://openalex.org/W2002440441","https://openalex.org/W2003701638","https://openalex.org/W2012114174","https://openalex.org/W2018309878","https://openalex.org/W2021786390","https://openalex.org/W2025421018","https://openalex.org/W2062731992","https://openalex.org/W2088842637","https://openalex.org/W2109386667","https://openalex.org/W2115986224","https://openalex.org/W2118331730","https://openalex.org/W2127617835","https://openalex.org/W2130647945","https://openalex.org/W2136207702","https://openalex.org/W2141870784","https://openalex.org/W2142943472","https://openalex.org/W2144354132","https://openalex.org/W2158400962","https://openalex.org/W2163590332","https://openalex.org/W2165188227","https://openalex.org/W2234962923","https://openalex.org/W2336928061","https://openalex.org/W2565998605","https://openalex.org/W2588802774","https://openalex.org/W2608775622","https://openalex.org/W2654286404","https://openalex.org/W2733936308","https://openalex.org/W2789862859","https://openalex.org/W2886401384","https://openalex.org/W2891214310","https://openalex.org/W2905075615","https://openalex.org/W2909401432","https://openalex.org/W2963534555","https://openalex.org/W2964138223","https://openalex.org/W2999746904","https://openalex.org/W3018942752","https://openalex.org/W3106159961","https://openalex.org/W4232776841","https://openalex.org/W4240286851","https://openalex.org/W4250589301","https://openalex.org/W4301014524","https://openalex.org/W4312258136","https://openalex.org/W6651344518","https://openalex.org/W6668990524"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2743212448","https://openalex.org/W2889566344","https://openalex.org/W3113932901","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311"],"abstract_inverted_index":{"Multiagent":[0],"navigation":[1,17,40],"systems":[2],"present":[3,33],"opportunities":[4],"for":[5],"many":[6],"applications":[7],"due":[8],"to":[9,36,47,56,156,193],"their":[10],"agility":[11],"and":[12,98,104,108,130,133,160,168,172,188],"cooperation.":[13],"In":[14,29],"any":[15],"multiagent":[16,39,116],"system,":[18],"it":[19],"is":[20,50,72,88],"critical":[21],"that":[22,92,144],"actual":[23],"interagent":[24],"collisions":[25],"are":[26,135,178],"strictly":[27],"prevented.":[28],"this":[30,48,87],"article,":[31],"we":[32,161],"a":[34,53,65,114,181,185,197],"solution":[35,46],"the":[37,82,89,111,119,148,152,175],"2-D":[38],"problem":[41,49],"with":[42,95,105],"collision":[43,126],"avoidance.":[44],"Our":[45],"based":[51],"on":[52],"novel":[54],"extension":[55],"Gauss's":[57],"principle":[58],"of":[59,68,77,84,100,113,151,174,184,191],"least":[60],"constraint":[61],"(GPLC),":[62],"in":[63,145],"which":[64],"fixed":[66],"set":[67],"strict":[69],"equality":[70],"constraints":[71,103,124],"replaced":[73],"by":[74,180],"time-varying":[75],"sets":[76],"active":[78,101],"inequality":[79,102,123],"constraints.":[80],"To":[81],"best":[83],"our":[85],"knowledge,":[86],"first":[90],"instance":[91],"extends":[93],"GPLC":[94],"dynamic":[96],"incorporation":[97],"stabilization":[99,140],"actuator":[106],"delay":[107],"saturation.":[109],"Herein,":[110],"dynamics":[112],"collision-free":[115],"system":[117],"satisfies":[118],"Karush-Kuhn-Tucker":[120],"conditions.":[121],"Active":[122],"enforce":[125],"avoidance,":[127],"leader":[128],"following,":[129],"agglomeration":[131],"behaviors,":[132],"they":[134],"stabilized":[136],"using":[137],"Baumgarte's":[138],"error":[139],"approach.":[141],"We":[142],"show":[143],"dense":[146],"configurations,":[147],"positional":[149],"arrangement":[150],"agents":[153,195],"can":[154],"lead":[155],"linearly":[157],"dependent":[158],"constraints,":[159],"propose":[162],"specialized":[163],"solutions":[164],"involving":[165],"QR":[166],"decomposition":[167],"regularization.":[169],"The":[170],"efficacy":[171],"efficiency":[173],"proposed":[176],"method":[177],"demonstrated":[179],"dimensional":[182],"analysis":[183],"worst-case":[186],"scenario":[187],"numerical":[189],"studies":[190],"up":[192],"100":[194],"tracking":[196],"prescribed":[198],"virtual":[199],"leader.":[200]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
