{"id":"https://openalex.org/W4413472472","doi":"https://doi.org/10.1109/tac.2025.3601760","title":"Distributed Roto-Translation Formation Control of Multirigid-Body Using Dual Quaternion Laplacian","display_name":"Distributed Roto-Translation Formation Control of Multirigid-Body Using Dual Quaternion Laplacian","publication_year":2025,"publication_date":"2025-08-23","ids":{"openalex":"https://openalex.org/W4413472472","doi":"https://doi.org/10.1109/tac.2025.3601760"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2025.3601760","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2025.3601760","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":"Xudong Liu","orcid":"https://orcid.org/0009-0002-1281-9980"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xudong Liu","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Beihang University, Hunan, China","College of Intelligence Science and Technology, National University of Defense Technology, Hunan, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Beihang University, Hunan, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Hunan, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079974133","display_name":"Su Cao","orcid":"https://orcid.org/0000-0002-7702-6378"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Su Cao","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Beihang University, Hunan, China","College of Intelligence Science and Technology, National University of Defense Technology, Hunan, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Beihang University, Hunan, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Hunan, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiangke Wang","orcid":"https://orcid.org/0000-0002-5074-7052"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangke Wang","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Beihang University, Hunan, China","College of Intelligence Science and Technology, National University of Defense Technology, Hunan, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Beihang University, Hunan, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Hunan, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057257613","display_name":"Chunfeng Cui","orcid":"https://orcid.org/0000-0002-6815-4060"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunfeng Cui","raw_affiliation_strings":["LMIB of the Ministry of Education, School of Mathematical Sciences, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"LMIB of the Ministry of Education, School of Mathematical Sciences, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011886900","display_name":"Liqun Qi","orcid":"https://orcid.org/0000-0002-1112-5250"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Liqun Qi","raw_affiliation_strings":["Research Center for Intelligent Operations Research, Department of Applied Mathematics, The Hong Kong Polytechnic University, Kowloon, Hong Kong","Research Center for Intelligent Operations Research, Department of Applied Mathematics, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Operations Research, Department of Applied Mathematics, The Hong Kong Polytechnic University, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Research Center for Intelligent Operations Research, Department of Applied Mathematics, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042932080","display_name":"Zhiyun Lin","orcid":"https://orcid.org/0000-0002-5523-4467"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyun Lin","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology, School of Automation and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China","Shenzhen Key Laboratory of Control Theory and Intelligent Systems, School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology, School of Automation and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Shenzhen Key Laboratory of Control Theory and Intelligent Systems, School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":1.2631,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.82758508,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"71","issue":"2","first_page":"1191","last_page":"1198"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11261","display_name":"Quantum chaos and dynamical systems","score":0.9750000238418579,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11261","display_name":"Quantum chaos and dynamical systems","score":0.9750000238418579,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9711999893188477,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9668999910354614,"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/dual-quaternion","display_name":"Dual quaternion","score":0.8409740328788757},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.7351250052452087},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.6598460078239441},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5508142709732056},{"id":"https://openalex.org/keywords/laplace-operator","display_name":"Laplace operator","score":0.4580146372318268},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.4481205940246582},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42268475890159607},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3918258547782898},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3644883632659912},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36399057507514954},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26158690452575684},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22754493355751038},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.21323007345199585},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1599925458431244},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15873309969902039},{"id":"https://openalex.org/keywords/philosophy","display_name":"Philosophy","score":0.09106233716011047},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.07784494757652283}],"concepts":[{"id":"https://openalex.org/C145941777","wikidata":"https://www.wikidata.org/wiki/Q5310237","display_name":"Dual quaternion","level":3,"score":0.8409740328788757},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.7351250052452087},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.6598460078239441},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5508142709732056},{"id":"https://openalex.org/C165700671","wikidata":"https://www.wikidata.org/wiki/Q203484","display_name":"Laplace operator","level":2,"score":0.4580146372318268},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.4481205940246582},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42268475890159607},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3918258547782898},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3644883632659912},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36399057507514954},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26158690452575684},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22754493355751038},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.21323007345199585},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1599925458431244},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15873309969902039},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.09106233716011047},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.07784494757652283},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2025.3601760","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2025.3601760","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/G1791889231","display_name":null,"funder_award_id":"62403482","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3474109832","display_name":null,"funder_award_id":"62173118","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3748891951","display_name":null,"funder_award_id":"U23B2032","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5455908029","display_name":null,"funder_award_id":"U2241214","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8464087229","display_name":null,"funder_award_id":"2024JJ6472","funder_id":"https://openalex.org/F4320322843","funder_display_name":"Natural Science Foundation of\u00a0Hunan Province"},{"id":"https://openalex.org/G8618877991","display_name":null,"funder_award_id":"2024B1212010002","funder_id":"https://openalex.org/F4320335795","funder_display_name":"Science and Technology Planning Project of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322843","display_name":"Natural Science Foundation of\u00a0Hunan Province","ror":null},{"id":"https://openalex.org/F4320335795","display_name":"Science and Technology Planning Project of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1247368940","https://openalex.org/W1980755499","https://openalex.org/W1983235336","https://openalex.org/W2040302654","https://openalex.org/W2048821062","https://openalex.org/W2085566733","https://openalex.org/W2088350304","https://openalex.org/W2091310900","https://openalex.org/W2107396783","https://openalex.org/W2162496869","https://openalex.org/W2181845023","https://openalex.org/W2771229841","https://openalex.org/W2792674021","https://openalex.org/W2793004627","https://openalex.org/W3041390508","https://openalex.org/W3116646474","https://openalex.org/W4230504900","https://openalex.org/W4387447834","https://openalex.org/W4388081856","https://openalex.org/W4390569102","https://openalex.org/W4392630808","https://openalex.org/W4394910005","https://openalex.org/W4404047546"],"related_works":["https://openalex.org/W2523915674","https://openalex.org/W2888751871","https://openalex.org/W570369945","https://openalex.org/W102224637","https://openalex.org/W2185573392","https://openalex.org/W3127350447","https://openalex.org/W2315718763","https://openalex.org/W4321633639","https://openalex.org/W2914794850","https://openalex.org/W3037787320"],"abstract_inverted_index":{"This":[0],"article":[1],"highlights":[2],"the":[3,11,39,43,51,59,67,80,89,100,114,129],"pivotal":[4],"role":[5],"of":[6,13,61,76,84,91,102,118,132],"dual":[7,44,96],"quaternion":[8,45],"Laplacians":[9],"in":[10,66,113],"control":[12,24,121,131],"rigid-body":[14,36],"roto-translation":[15],"formations.":[16],"We":[17,106],"propose":[18],"a":[19,62],"new":[20],"distributed":[21],"and":[22,82,110],"linear":[23],"framework":[25,73],"(Dual":[26],"Quaternion":[27],"Laplacian":[28],"Coordination":[29],"Framework,":[30],"DQLaCoF)":[31],"aimed":[32],"at":[33],"managing":[34],"multiple":[35,133],"formations":[37],"within":[38],"SE(3)":[40],"space,":[41],"leveraging":[42],"Laplacian.":[46],"It":[47],"is":[48,56,74,123],"established":[49],"that":[50],"system's":[52],"pairwise":[53],"asymptotic":[54],"stability":[55],"contingent":[57],"upon":[58],"presence":[60],"directed":[63],"spanning":[64],"tree":[65],"communication":[68],"topology":[69],"graph.":[70],"Notably,":[71],"this":[72],"capable":[75],"simultaneously":[77],"controlling":[78],"both":[79],"position":[81],"orientation":[83],"rigid":[85,103],"bodies":[86],"while":[87],"maintaining":[88],"integrity":[90],"state":[92],"variables":[93],"as":[94],"unit":[95],"quaternions,":[97],"adhering":[98],"to":[99],"principles":[101],"body":[104],"kinematics.":[105],"explore":[107],"scenarios":[108],"with":[109],"without":[111],"leaders":[112],"formation.":[115],"The":[116],"efficacy":[117],"our":[119],"proposed":[120],"strategy":[122],"substantiated":[124],"through":[125],"simulation":[126],"studies":[127],"involving":[128],"formation":[130],"quad-rotors.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
