{"id":"https://openalex.org/W4296704820","doi":"https://doi.org/10.1109/tase.2022.3207289","title":"Dynamic Path Planning and Motion Control of Microrobotic Swarms for Mobile Target Tracking","display_name":"Dynamic Path Planning and Motion Control of Microrobotic Swarms for Mobile Target Tracking","publication_year":2022,"publication_date":"2022-09-21","ids":{"openalex":"https://openalex.org/W4296704820","doi":"https://doi.org/10.1109/tase.2022.3207289"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2022.3207289","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3207289","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/A5032851341","display_name":"Qian Zou","orcid":"https://orcid.org/0000-0003-3363-1805"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qian Zou","raw_affiliation_strings":["School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-3363-1805","affiliations":[{"raw_affiliation_string":"School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067899676","display_name":"Xingzhou Du","orcid":"https://orcid.org/0000-0002-8526-7286"},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingzhou Du","raw_affiliation_strings":["Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-8526-7286","affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen, China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005921992","display_name":"Yuezhen Liu","orcid":"https://orcid.org/0000-0002-5998-0061"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuezhen Liu","raw_affiliation_strings":["School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090031953","display_name":"Hui Chen","orcid":"https://orcid.org/0000-0002-8629-8834"},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Chen","raw_affiliation_strings":["School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China","Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen, China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059632910","display_name":"Yibin Wang","orcid":"https://orcid.org/0000-0003-4361-606X"},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibin Wang","raw_affiliation_strings":["School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China","Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen, China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070983260","display_name":"Jiangfan Yu","orcid":"https://orcid.org/0000-0002-7981-6744"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiangfan Yu","raw_affiliation_strings":["School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China","School of Science and Engineering, School of Medicine, The Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-7981-6744","affiliations":[{"raw_affiliation_string":"School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"School of Science and Engineering, School of Medicine, The Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.1017,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.96287641,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"20","issue":"4","first_page":"2454","last_page":"2468"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9972000122070312,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/controller","display_name":"Controller (irrigation)","score":0.6475568413734436},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6076968312263489},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5432000160217285},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5299994349479675},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4629002809524536},{"id":"https://openalex.org/keywords/linear-quadratic-regulator","display_name":"Linear-quadratic regulator","score":0.448219895362854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4301775097846985},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.415147066116333},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4100296199321747},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38173195719718933},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3772737979888916},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25032174587249756},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1691005527973175}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6475568413734436},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6076968312263489},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5432000160217285},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5299994349479675},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4629002809524536},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.448219895362854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4301775097846985},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.415147066116333},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4100296199321747},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38173195719718933},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3772737979888916},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25032174587249756},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1691005527973175},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2022.3207289","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3207289","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/G1217811014","display_name":null,"funder_award_id":"62103347","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":43,"referenced_works":["https://openalex.org/W1971086298","https://openalex.org/W1976221960","https://openalex.org/W1980304178","https://openalex.org/W2011766558","https://openalex.org/W2071166678","https://openalex.org/W2168046319","https://openalex.org/W2187731943","https://openalex.org/W2253974108","https://openalex.org/W2285898182","https://openalex.org/W2594355207","https://openalex.org/W2768543737","https://openalex.org/W2771808227","https://openalex.org/W2775692923","https://openalex.org/W2791504335","https://openalex.org/W2792612386","https://openalex.org/W2800089684","https://openalex.org/W2811190440","https://openalex.org/W2884519054","https://openalex.org/W2886974401","https://openalex.org/W2890912757","https://openalex.org/W2891092840","https://openalex.org/W2898681393","https://openalex.org/W2908733219","https://openalex.org/W2942397861","https://openalex.org/W2946359702","https://openalex.org/W2972539416","https://openalex.org/W2982384915","https://openalex.org/W3031804879","https://openalex.org/W3037118486","https://openalex.org/W3041571536","https://openalex.org/W3088157603","https://openalex.org/W3103634491","https://openalex.org/W3109031471","https://openalex.org/W3131977017","https://openalex.org/W3144873095","https://openalex.org/W3189129729","https://openalex.org/W3205700346","https://openalex.org/W3216868819","https://openalex.org/W4205666764","https://openalex.org/W4221026076","https://openalex.org/W4240321558","https://openalex.org/W4241749978","https://openalex.org/W6686643907"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W2170661558","https://openalex.org/W2359600231","https://openalex.org/W2106517143","https://openalex.org/W2001146265"],"abstract_inverted_index":{"Magnetic":[0],"field-driven":[1],"microrobotic":[2,23,100,184,228,361],"swarms":[3,24],"have":[4],"drawn":[5],"extensive":[6],"attention,":[7],"especially":[8],"in":[9,155,223,338],"the":[10,32,55,59,64,110,132,137,141,145,148,192,203,212,238,255,290,293,296,304,314,318,334,349],"field":[11],"of":[12,22,31,58,76,112,140,151,169,194,214,243,245,267,292,303,355],"automatic":[13],"control.":[14],"Realizing":[15],"dynamic":[16,230,269,283],"path":[17,66,205,270],"planning":[18,231],"and":[19,80,135,158,201,275,295,307,311],"motion":[20,72,213,273,357],"control":[21,149,177,187,193,264,302,346,358],"for":[25,67,144,179,351,360],"mobile":[26,96,125,152,180,224,325],"target":[27,97,153,181,225,297],"tracking":[28,98,113,154,182,226,336],"is":[29,91,105,160,172,206,280],"one":[30],"important":[33],"tasks":[34],"that":[35],"still":[36],"remains":[37],"unsolved.":[38],"In":[39,210,259],"this":[40,170,260],"paper,":[41],"we":[42],"firstly":[43],"present":[44],"an":[45,175,262],"enhanced":[46],"bidirectional":[47],"rapidly-exploring":[48],"random":[49],"tree":[50],"star":[51],"(EB-RRT*)":[52],"algorithm":[53,104],"considering":[54],"physical":[56],"size":[57],"swarm":[60,294,305,319],"to":[61,94,108,130,166,173,197,235,250,254,323],"dynamically":[62],"plan":[63],"optimal":[65],"obstacle":[68],"avoidance.":[69],"An":[70],"image-guided":[71],"controller,":[73,90],"which":[74],"consists":[75],"a":[77,81,268,272,276,352],"direction":[78,306],"controller":[79,274],"Genetic":[82],"Algorithm":[83],"based":[84],"Linear":[85],"Quadratic":[86],"Regulator":[87],"(GA-LQR)":[88],"velocity":[89,308],"then":[92],"proposed":[93,133,335,345],"realize":[95],"using":[99,183,227,313],"swarms.":[101,185,362],"Targeted":[102],"bursting":[103,278,316],"subsequently":[106],"developed":[107],"meet":[109],"requirement":[111],"high-speed":[114],"(i.e.,":[115],"20":[116],"<inline-formula":[117],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[118],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[119],"<tex-math":[120],"notation=\"LaTeX\">$\\mu":[121],"m/s$":[122],"</tex-math></inline-formula>":[123],")":[124],"targets.":[126],"Simulations":[127],"are":[128,233,247,309],"performed":[129],"validate":[131],"methods":[134,359],"obtain":[136],"proper":[138],"ranges":[139],"input":[142],"parameters":[143],"controllers.":[146],"Finally,":[147],"effectiveness":[150],"different":[156,339],"conditions":[157],"environments":[159,340],"validated":[161],"by":[162],"experimental":[163],"results.":[164],"Note":[165],"Practitioners\u2014The":[167],"motivation":[168],"work":[171],"develop":[174],"effective":[176,263],"scheme":[178,265,347],"Conventional":[186],"schemes":[188],"mainly":[189],"focus":[190],"on":[191],"single":[195,215],"microrobots":[196,217],"reach":[198],"static":[199],"targets,":[200],"thus":[202],"desired":[204,239],"fixed":[207],"once":[208],"planned.":[209],"addition,":[211],"monolithic":[216],"can":[218,320],"be":[219,251,286,321],"modelled":[220,252],"precisely.":[221],"However,":[222],"swarms,":[229],"algorithms":[232],"demanded":[234],"frequently":[236],"update":[237],"path.":[240],"Swarms":[241],"consisting":[242,266],"millions":[244],"micro-agents":[246],"also":[248],"difficult":[249],"due":[253],"complex":[256],"agent-agent":[257],"interactions.":[258],"work,":[261],"planner,":[271],"targeted":[277,315],"unit":[279],"developed.":[281],"Real-time":[282],"paths":[284],"will":[285],"planned":[287],"even":[288],"though":[289],"positions":[291],"change":[298],"rapidly.":[299],"The":[300,344],"precise":[301],"achieved,":[310],"moreover,":[312],"algorithm,":[317],"accelerated":[322],"approach":[324],"targets":[326],"accurately":[327],"with":[328,341],"higher":[329],"efficiency.":[330],"Experimental":[331],"results":[332],"validates":[333],"strategy":[337],"virtual":[342],"obstacles.":[343],"paves":[348],"way":[350],"better":[353],"understanding":[354],"advanced":[356]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":9}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
