{"id":"https://openalex.org/W2963376615","doi":"https://doi.org/10.1109/tase.2019.2925908","title":"Planar Orientation Control and Torque Maximization Using a Swarm With Global Inputs","display_name":"Planar Orientation Control and Torque Maximization Using a Swarm With Global Inputs","publication_year":2019,"publication_date":"2019-07-24","ids":{"openalex":"https://openalex.org/W2963376615","doi":"https://doi.org/10.1109/tase.2019.2925908","mag":"2963376615"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2019.2925908","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2019.2925908","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","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/A5016578928","display_name":"Shiva Shahrokhi","orcid":"https://orcid.org/0000-0002-3268-799X"},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shiva Shahrokhi","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA"],"raw_orcid":"https://orcid.org/0000-0002-3268-799X","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA","institution_ids":["https://openalex.org/I44461941"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002238385","display_name":"Lillian S. Lin","orcid":"https://orcid.org/0000-0002-2834-9234"},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lillian Lin","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA","institution_ids":["https://openalex.org/I44461941"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062449649","display_name":"Aaron T. Becker","orcid":"https://orcid.org/0000-0001-7614-6282"},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron T. Becker","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA"],"raw_orcid":"https://orcid.org/0000-0001-7614-6282","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA","institution_ids":["https://openalex.org/I44461941"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I44461941"],"apc_list":{"value":2045,"currency":"USD","value_usd":2045},"apc_paid":null,"fwci":1.0158,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.75602608,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":98},"biblio":{"volume":"16","issue":"4","first_page":"1980","last_page":"1987"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter 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/T11486","display_name":"Micro and Nano Robotics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/torque","display_name":"Torque","score":0.8576487302780151},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.737256646156311},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.6858094930648804},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6340770125389099},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.5222081542015076},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4902954399585724},{"id":"https://openalex.org/keywords/standard-deviation","display_name":"Standard deviation","score":0.46972930431365967},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.46548643708229065},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4410150945186615},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4210609793663025},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3581945300102234},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32234305143356323},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.25500181317329407},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21724361181259155},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20193073153495789},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16199201345443726},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1183939278125763}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.8576487302780151},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.737256646156311},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.6858094930648804},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6340770125389099},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.5222081542015076},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4902954399585724},{"id":"https://openalex.org/C22679943","wikidata":"https://www.wikidata.org/wiki/Q159375","display_name":"Standard deviation","level":2,"score":0.46972930431365967},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.46548643708229065},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4410150945186615},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4210609793663025},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3581945300102234},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32234305143356323},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.25500181317329407},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21724361181259155},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20193073153495789},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16199201345443726},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1183939278125763},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"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/tase.2019.2925908","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2019.2925908","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3804539350","display_name":"CPS: Synergy: Collaborative Research: MRI Powered & Guided Tetherless Effectors for Localized Therapeutic Interventions","funder_award_id":"1646566","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3928943643","display_name":"RI: Small: Collaborative Research: Micro-Assembly Exploiting SofT RObotics (MAESTRO)","funder_award_id":"1619278","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8430736561","display_name":"CAREER: Massive Uniform Manipulation: Algorithmic and Control Theoretic Foundations for Large Populations of Simple Robots Controlled by Uniform Inputs","funder_award_id":"1553063","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W161196249","https://openalex.org/W1532551972","https://openalex.org/W1908739489","https://openalex.org/W1982636603","https://openalex.org/W2005757632","https://openalex.org/W2023850386","https://openalex.org/W2030775133","https://openalex.org/W2032538182","https://openalex.org/W2042843117","https://openalex.org/W2099397914","https://openalex.org/W2127218100","https://openalex.org/W2135921905","https://openalex.org/W2136088226","https://openalex.org/W2140628556","https://openalex.org/W2155272480","https://openalex.org/W2202599725","https://openalex.org/W2302294167","https://openalex.org/W2498494303","https://openalex.org/W2554621607","https://openalex.org/W2581993098","https://openalex.org/W2744979297","https://openalex.org/W2759438313","https://openalex.org/W2779811634","https://openalex.org/W2789539638","https://openalex.org/W6631753858","https://openalex.org/W6652005026"],"related_works":["https://openalex.org/W2736680465","https://openalex.org/W4288714711","https://openalex.org/W3200708550","https://openalex.org/W2771637876","https://openalex.org/W4240853094","https://openalex.org/W4294093918","https://openalex.org/W2810496283","https://openalex.org/W3089879900","https://openalex.org/W2170656329","https://openalex.org/W3131977017"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"the":[3,23,32,57,61,70,80,97],"torque":[4,35,63,74],"applied":[5],"by":[6,26,37],"a":[7,13,27,43,54],"large":[8,76],"number":[9],"of":[10,42],"particles":[11,18],"on":[12],"long":[14],"aspect-ratio":[15],"rod.":[16],"The":[17,49],"are":[19],"all":[20],"pushed":[21],"in":[22,109],"same":[24],"direction":[25],"global":[28],"signal.":[29],"We":[30,94],"calculate":[31],"force":[33],"and":[34,47],"generated":[36],"three":[38],"canonical":[39],"position":[40],"distributions":[41],"swarm:":[44],"uniform,":[45],"triangular,":[46],"normal.":[48],"model":[50],"shows":[51],"that":[52],"for":[53,64,75],"pivoted":[55],"rod":[56],"uniform":[58],"distribution":[59,72],"produces":[60],"maximum":[62],"small":[65],"swarm":[66],"standard":[67,77],"deviations,":[68],"but":[69],"normal":[71],"maximizes":[73],"deviations.":[78],"In":[79],"simulation,":[81],"we":[82],"use":[83],"these":[84],"results":[85],"to":[86,90,101,105],"design":[87],"proportional-derivative":[88],"controllers":[89],"orient":[91],"rigid":[92],"objects.":[93],"conclude":[95],"showing":[96],"experiments":[98],"with":[99],"up":[100],"97":[102],"hardware":[103],"robots":[104],"evaluate":[106],"our":[107],"theory":[108],"practice.":[110]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":1}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}