{"id":"https://openalex.org/W4413553459","doi":"https://doi.org/10.1109/tac.2025.3602134","title":"Hierarchical Consensus of Constrained Second-Order Multiagent Systems With Application to Formation of Multiple Mobile Robots","display_name":"Hierarchical Consensus of Constrained Second-Order Multiagent Systems With Application to Formation of Multiple Mobile Robots","publication_year":2025,"publication_date":"2025-08-25","ids":{"openalex":"https://openalex.org/W4413553459","doi":"https://doi.org/10.1109/tac.2025.3602134"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2025.3602134","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2025.3602134","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/A5100369991","display_name":"Xiangyu Wang","orcid":"https://orcid.org/0000-0002-8793-381X"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiangyu Wang","raw_affiliation_strings":["School of Automation, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109787604","display_name":"Ji Wang","orcid":"https://orcid.org/0009-0004-0378-4039"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ji Wang","raw_affiliation_strings":["School of Automation, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100760190","display_name":"Yang\u2010Yang Chen","orcid":"https://orcid.org/0000-0003-0136-0174"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang-Yang Chen","raw_affiliation_strings":["School of Automation, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yuhao Ma","orcid":"https://orcid.org/0009-0006-4835-1776"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhao Ma","raw_affiliation_strings":["School of Automation, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100618284","display_name":"Shihua Li","orcid":"https://orcid.org/0000-0001-9044-7137"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shihua Li","raw_affiliation_strings":["School of Automation, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100369991"],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":7.098,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.97024632,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"71","issue":"2","first_page":"886","last_page":"901"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9836999773979187,"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/T12288","display_name":"Optimization and Search Problems","score":0.9836999773979187,"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/T12203","display_name":"Mobile Agent-Based Network Management","score":0.9574000239372253,"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":0.9399999976158142,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6875490546226501},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6145492196083069},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.5627038478851318},{"id":"https://openalex.org/keywords/order","display_name":"Order (exchange)","score":0.5334314107894897},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5174353718757629},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5110658407211304},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37573307752609253},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.06913205981254578}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6875490546226501},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6145492196083069},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.5627038478851318},{"id":"https://openalex.org/C182306322","wikidata":"https://www.wikidata.org/wiki/Q1779371","display_name":"Order (exchange)","level":2,"score":0.5334314107894897},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5174353718757629},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5110658407211304},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37573307752609253},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.06913205981254578},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2025.3602134","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2025.3602134","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/G5195803947","display_name":null,"funder_award_id":"62373097","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5740907510","display_name":null,"funder_award_id":"62025302","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G882886854","display_name":null,"funder_award_id":"62373099","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G948914477","display_name":null,"funder_award_id":"62533012","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W1504052325","https://openalex.org/W1967598091","https://openalex.org/W1979517588","https://openalex.org/W1980187301","https://openalex.org/W2042141189","https://openalex.org/W2065632630","https://openalex.org/W2079025554","https://openalex.org/W2158742422","https://openalex.org/W2169082695","https://openalex.org/W2240890113","https://openalex.org/W2342575741","https://openalex.org/W2605811981","https://openalex.org/W2760387103","https://openalex.org/W2792285312","https://openalex.org/W2805998202","https://openalex.org/W2900269678","https://openalex.org/W2922139567","https://openalex.org/W2998429856","https://openalex.org/W3000505229","https://openalex.org/W3010829930","https://openalex.org/W3015087125","https://openalex.org/W3027336467","https://openalex.org/W3037363329","https://openalex.org/W3038177802","https://openalex.org/W3049452499","https://openalex.org/W3080519205","https://openalex.org/W3112745326","https://openalex.org/W3122098166","https://openalex.org/W3133942069","https://openalex.org/W3140474906","https://openalex.org/W3158757531","https://openalex.org/W3171186102","https://openalex.org/W4205265062","https://openalex.org/W4213313928","https://openalex.org/W4285214494","https://openalex.org/W4307954361","https://openalex.org/W4312002417","https://openalex.org/W4313151755","https://openalex.org/W4380083007","https://openalex.org/W4385566672","https://openalex.org/W4386590886","https://openalex.org/W4388718659","https://openalex.org/W4388817358","https://openalex.org/W4391797482","https://openalex.org/W4392251850","https://openalex.org/W4393140318","https://openalex.org/W4394730929","https://openalex.org/W4399168124","https://openalex.org/W4399212980","https://openalex.org/W4399951841","https://openalex.org/W4400188556","https://openalex.org/W4400810051"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2170721890","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"In":[0,35,66],"this":[1],"paper,":[2],"the":[3,19,36,40,60,67,83,87,91,100,103,109,112,118,136,141],"consensus":[4,107],"problem":[5],"is":[6,27,48,122],"studied":[7],"for":[8,39,82],"leader-follower":[9],"second-order":[10],"multi-agent":[11],"systems":[12],"subject":[13],"to":[14,54,59,85,125],"velocity":[15,64,115],"constraints.":[16,65,116],"To":[17],"solve":[18],"problem,":[20],"an":[21],"innovative":[22],"hierarchical":[23,143],"distributed":[24,44,145],"control":[25,74,120,127,146],"scheme":[26,121],"built,":[28],"which":[29],"consists":[30],"of":[31,95,114,128,140],"two":[32,101],"main":[33],"layers.":[34],"upper":[37],"layer,":[38,69],"followers,":[41],"a":[42,71],"constrained":[43,77,144],"reference":[45],"signal":[46,97],"generator":[47],"developed":[49],"with":[50,108],"fractional":[51],"differential":[52],"gains":[53],"produce":[55],"suitable":[56],"references":[57,88],"converging":[58],"leader":[61,110],"while":[62],"maintaining":[63],"lower":[68],"via":[70],"nonlinear":[72],"mapping":[73],"method,":[75],"some":[76],"tracking":[78],"controllers":[79],"are":[80],"designed":[81],"followers":[84,104],"track":[86],"produced":[89],"by":[90],"generator.":[92],"By":[93],"means":[94],"bidirectional":[96],"flows":[98],"in":[99,111],"layers,":[102],"asymptotically":[105],"achieve":[106],"presence":[113],"Moreover,":[117],"proposed":[119,142],"also":[123],"applied":[124],"formation":[126],"multiple":[129],"mobile":[130],"robots.":[131],"Simulations":[132],"and":[133,138],"experiments":[134],"demonstrate":[135],"effectiveness":[137],"advantages":[139],"scheme.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}