{"id":"https://openalex.org/W3175737417","doi":"https://doi.org/10.1109/tac.2021.3093280","title":"Guaranteed Collision-Free Reference Tracking in Constrained Multi Unmanned Vehicle Systems","display_name":"Guaranteed Collision-Free Reference Tracking in Constrained Multi Unmanned Vehicle Systems","publication_year":2021,"publication_date":"2021-06-29","ids":{"openalex":"https://openalex.org/W3175737417","doi":"https://doi.org/10.1109/tac.2021.3093280","mag":"3175737417"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2021.3093280","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2021.3093280","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/A5015906415","display_name":"Maryam Bagherzadeh","orcid":"https://orcid.org/0000-0001-9006-3803"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Maryam Bagherzadeh","raw_affiliation_strings":["Concordia Institute for Information Systems Engineering, Concordia University, Montreal, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0001-9006-3803","affiliations":[{"raw_affiliation_string":"Concordia Institute for Information Systems Engineering, Concordia University, Montreal, QC, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013174687","display_name":"Shima Savehshemshaki","orcid":"https://orcid.org/0000-0002-4448-1470"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Shima Savehshemshaki","raw_affiliation_strings":["Concordia Institute for Information Systems Engineering, Concordia University, Montreal, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0002-4448-1470","affiliations":[{"raw_affiliation_string":"Concordia Institute for Information Systems Engineering, Concordia University, Montreal, QC, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084252716","display_name":"Walter L\u00facia","orcid":"https://orcid.org/0000-0003-3776-8331"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Walter Lucia","raw_affiliation_strings":["Concordia Institute for Information Systems Engineering, Concordia University, Montreal, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0003-3776-8331","affiliations":[{"raw_affiliation_string":"Concordia Institute for Information Systems Engineering, Concordia University, Montreal, QC, Canada","institution_ids":["https://openalex.org/I60158472"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5015906415"],"corresponding_institution_ids":["https://openalex.org/I60158472"],"apc_list":null,"apc_paid":null,"fwci":1.5264,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.82281242,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"67","issue":"6","first_page":"3083","last_page":"3089"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9965000152587891,"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"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9965000152587891,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9930999875068665,"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/computer-science","display_name":"Computer science","score":0.6796045303344727},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5934479832649231},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.55699622631073},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5186449885368347},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5076483488082886},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5036510825157166},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4977011978626251},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3699492812156677},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34243518114089966},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20628157258033752},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1766304075717926},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1255069375038147},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09328439831733704}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6796045303344727},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5934479832649231},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.55699622631073},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5186449885368347},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5076483488082886},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5036510825157166},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4977011978626251},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3699492812156677},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34243518114089966},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20628157258033752},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1766304075717926},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1255069375038147},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09328439831733704},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2021.3093280","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2021.3093280","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":[{"score":0.6200000047683716,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1880805667","https://openalex.org/W1964703036","https://openalex.org/W1972022192","https://openalex.org/W2002675616","https://openalex.org/W2006557476","https://openalex.org/W2042733674","https://openalex.org/W2083053694","https://openalex.org/W2099397914","https://openalex.org/W2115986224","https://openalex.org/W2119974577","https://openalex.org/W2137469879","https://openalex.org/W2146890818","https://openalex.org/W2147326597","https://openalex.org/W2168904841","https://openalex.org/W2291099268","https://openalex.org/W2343568200","https://openalex.org/W2588802774","https://openalex.org/W2608634483","https://openalex.org/W2749680651","https://openalex.org/W2766005175","https://openalex.org/W2780134511","https://openalex.org/W2889275882","https://openalex.org/W2962888568","https://openalex.org/W2967153799","https://openalex.org/W4236071179","https://openalex.org/W4256073327"],"related_works":["https://openalex.org/W2036697162","https://openalex.org/W2332386680","https://openalex.org/W2248621902","https://openalex.org/W2003779889","https://openalex.org/W2561315646","https://openalex.org/W4205698120","https://openalex.org/W2736207500","https://openalex.org/W2018658498","https://openalex.org/W2145006118","https://openalex.org/W2791791851"],"abstract_inverted_index":{"In":[0,57],"this":[1,58],"article,":[2],"we":[3,60],"face":[4],"the":[5,83,95,105,115,134,153,167,170],"reference":[6],"tracking":[7],"control":[8,64,145],"problem":[9],"for":[10,94,104],"a":[11,21,27,33,37,62,67,99,120],"system":[12,159],"of":[13,81,85,136,152,166,169],"heterogeneous":[14],"multiple":[15],"unmanned":[16,43],"vehicles":[17,137],"(MUVs)":[18],"moving":[19],"in":[20,71],"2-D":[22],"planar":[23],"environment.":[24],"We":[25],"consider":[26],"scenario,":[28],"where":[29,41,66],"each":[30,42],"vehicle":[31,44,77,117],"follows":[32],"trajectory":[34],"imposed":[35],"by":[36,92],"local":[38,76,96],"planner":[39],"and":[40,55,109],"can":[45],"have":[46],"different":[47,53],"linear":[48],"dynamics":[49],"as":[50,52],"well":[51],"constraints":[54],"disturbances.":[56],"contest,":[59],"design":[61],"novel":[63],"architecture,":[65],"centralized":[68],"traffic":[69,106],"manager,":[70,107],"conjunction":[72],"with":[73,119],"ad-hoc":[74],"designed":[75],"controllers,":[78,98],"is":[79,90],"capable":[80],"ensuring":[82],"absence":[84],"collisions.":[86],"The":[87,143],"proposed":[88,171],"solution":[89],"obtained":[91],"exploiting,":[93],"vehicles\u2019":[97],"dual-mode":[100],"model-predictive":[101],"controller":[102],"and,":[103],"set-theoretic":[108],"controllability":[110],"properties.":[111],"Moreover,":[112],"after":[113],"modeling":[114],"potential":[116],"collisions":[118],"graph,":[121],"connectivity":[122],"arguments":[123],"are":[124,160],"used":[125],"to":[126,140,162],"obtain":[127],"an":[128,157],"optimal":[129],"collision":[130],"resolution,":[131],"which":[132],"minimizes":[133],"number":[135],"that":[138],"need":[139],"be":[141],"stopped.":[142],"resulting":[144],"scheme":[146],"ensures":[147],"collision-free":[148],"signal":[149],"tracking.":[150],"Results":[151],"simulation":[154],"conducted":[155],"on":[156],"MUV":[158],"shown":[161],"provide":[163],"tangible":[164],"evidence":[165],"features":[168],"framework.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
