{"id":"https://openalex.org/W4380359062","doi":"https://doi.org/10.1109/tase.2023.3283095","title":"Distributed Variation Parameter Design for Dynamic Formation Maneuvers With Bearing Constraints","display_name":"Distributed Variation Parameter Design for Dynamic Formation Maneuvers With Bearing Constraints","publication_year":2023,"publication_date":"2023-06-12","ids":{"openalex":"https://openalex.org/W4380359062","doi":"https://doi.org/10.1109/tase.2023.3283095"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3283095","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3283095","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/A5101761129","display_name":"Xiaozhen Zhang","orcid":"https://orcid.org/0000-0003-4160-4866"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaozhen Zhang","raw_affiliation_strings":["National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), School of Automation, Beijing Institute of Technology, Beijing, China","School of Automation, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4160-4866","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100650551","display_name":"Qingkai Yang","orcid":"https://orcid.org/0000-0001-9247-7786"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingkai Yang","raw_affiliation_strings":["National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), School of Automation, Beijing Institute of Technology, Beijing, China","School of Automation, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9247-7786","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007548009","display_name":"Jingshuo Lyu","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingshuo Lyu","raw_affiliation_strings":["National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), School of Automation, Beijing Institute of Technology, Beijing, China","School of Automation, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113736505","display_name":"Xinyue Zhao","orcid":"https://orcid.org/0009-0003-3690-7288"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyue Zhao","raw_affiliation_strings":["National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), School of Automation, Beijing Institute of Technology, Beijing, China","School of Automation, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":null,"display_name":"Hao Fang","orcid":"https://orcid.org/0000-0002-9627-0325"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Fang","raw_affiliation_strings":["National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), School of Automation, Beijing Institute of Technology, Beijing, China","School of Automation, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9627-0325","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":1.7547,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.85268961,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"21","issue":"3","first_page":"3664","last_page":"3677"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.995199978351593,"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/T12158","display_name":"Guidance and Control Systems","score":0.986299991607666,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/variation","display_name":"Variation (astronomy)","score":0.8284341096878052},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.6253869533538818},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.6139533519744873},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5790075659751892},{"id":"https://openalex.org/keywords/bearing","display_name":"Bearing (navigation)","score":0.5663249492645264},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.5605199933052063},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3357105851173401},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3269162178039551},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.326784610748291},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22517892718315125},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2190435528755188},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1975274682044983}],"concepts":[{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.8284341096878052},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.6253869533538818},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.6139533519744873},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5790075659751892},{"id":"https://openalex.org/C199978012","wikidata":"https://www.wikidata.org/wiki/Q1273815","display_name":"Bearing (navigation)","level":2,"score":0.5663249492645264},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5605199933052063},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3357105851173401},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3269162178039551},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.326784610748291},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22517892718315125},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2190435528755188},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1975274682044983},{"id":"https://openalex.org/C44870925","wikidata":"https://www.wikidata.org/wiki/Q37547","display_name":"Astrophysics","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/tase.2023.3283095","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3283095","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":[{"score":0.6100000143051147,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G2575069074","display_name":null,"funder_award_id":"62088101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2613911948","display_name":null,"funder_award_id":"U1913602","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6968088389","display_name":null,"funder_award_id":"61720106011","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8508485082","display_name":null,"funder_award_id":"62133002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8895553348","display_name":null,"funder_award_id":"62003277","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"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1495971413","https://openalex.org/W1515707356","https://openalex.org/W1685331108","https://openalex.org/W1982469113","https://openalex.org/W2004599787","https://openalex.org/W2068657768","https://openalex.org/W2082329867","https://openalex.org/W2100431085","https://openalex.org/W2106140000","https://openalex.org/W2160643434","https://openalex.org/W2178797461","https://openalex.org/W2472069939","https://openalex.org/W2560504659","https://openalex.org/W2568049408","https://openalex.org/W2592580471","https://openalex.org/W2594219313","https://openalex.org/W2605786341","https://openalex.org/W2734040660","https://openalex.org/W2755285861","https://openalex.org/W2765203865","https://openalex.org/W2794210792","https://openalex.org/W2794441019","https://openalex.org/W2794441464","https://openalex.org/W2804127519","https://openalex.org/W2893322488","https://openalex.org/W2904604181","https://openalex.org/W2907425248","https://openalex.org/W2911204412","https://openalex.org/W2913092074","https://openalex.org/W2971269667","https://openalex.org/W2972368359","https://openalex.org/W3011888914","https://openalex.org/W3089929416","https://openalex.org/W3108525355","https://openalex.org/W3126159791","https://openalex.org/W3141371563","https://openalex.org/W3163555844","https://openalex.org/W3173076363","https://openalex.org/W3183902755","https://openalex.org/W3195647294","https://openalex.org/W4224325297","https://openalex.org/W4226242368","https://openalex.org/W4252084914","https://openalex.org/W4308933493"],"related_works":["https://openalex.org/W2386430105","https://openalex.org/W2356521405","https://openalex.org/W2038534795","https://openalex.org/W2384358604","https://openalex.org/W1567829292","https://openalex.org/W3001063351","https://openalex.org/W3196905815","https://openalex.org/W2351370765","https://openalex.org/W3133811809","https://openalex.org/W1967452726"],"abstract_inverted_index":{"The":[0,226],"aim":[1],"of":[2,10,34,85,153,169,176,218,230,286,311,353],"this":[3,203,205],"study":[4],"is":[5,56,136,164,306,322],"to":[6,59,67,80,121,149,160,213,244,283,335,349],"investigate":[7],"the":[8,38,42,62,82,96,108,112,134,151,154,167,170,173,177,215,240,264,275,284,308,312,320,329,351,354],"problem":[9],"cooperative":[11],"multi-robot":[12,336],"variation":[13,39,83,91,125,179,194,216,251,289,303,315],"parameter":[14],"design":[15,78,211],"for":[16,268,279],"dynamic":[17,139,223,325],"formation":[18,35,64,140,178,184,221,326],"maneuvers":[19],"with":[20],"bearing":[21,135,321],"constraints.":[22],"Notably,":[23],"scaling":[24,44],"and":[25,46,54,145,191,198,274,345,357],"translation":[26,47,199],"are":[27,49,93,119,147,253,347],"relatively":[28],"economical":[29],"bearing-preserving":[30],"motions":[31],"in":[32,65,127,138,181,222,324,338,360],"terms":[33],"changes.":[36],"Typically,":[37],"parameters,":[40],"i.e.,":[41],"desired":[43,63,193],"size":[45,197],"vector,":[48],"designed":[50],"offline":[51],"a":[52,68,128,301,339],"priori,":[53],"it":[55],"often":[57],"challenging":[58],"dynamically":[60],"generate":[61],"response":[66],"changing":[69],"ambient":[70,224],"environment.":[71,109],"This":[72,317],"paper":[73,163,206],"proposes":[74],"an":[75,86,208,219],"online":[76,209],"distributed":[77,113,210,269,340],"method":[79,212,228,331,356],"determine":[81,214],"parameters":[84,180,195,217],"entire":[87,220],"formation.":[88],"First,":[89],"local":[90,105,124,237,250,288,314],"policies":[92,126,252],"generated":[94],"by":[95,166],"proposed":[97,155,227,330,355],"high-order":[98,258],"control":[99,185,259],"barrier":[100,260],"functions":[101],"based":[102],"on":[103,172,189],"received":[104,236],"excitations":[106,238],"from":[107,239],"Subsequently,":[110],"using":[111,293],"average":[114,270,310],"tracking":[115,271],"technique,":[116],"consensus":[117],"filters":[118],"employed":[120],"integrate":[122],"various":[123],"weighted-average":[129],"manner,":[130],"which":[131,187,305],"ensures":[132,318],"that":[133,319],"maintained":[137,323],"maneuvers.":[141,327],"Finally,":[142,342],"numerical":[143,343],"simulations":[144,344],"experiments":[146,346],"conducted":[148,348],"demonstrate":[150,350],"effectiveness":[152],"method.":[156],"<italic":[157],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[158],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[159],"Practitioners</i>":[161],"\u2014This":[162],"motivated":[165],"neglect":[168],"research":[171],"automatic":[174],"co-adjustment":[175],"most":[182],"existing":[183],"schemes,":[186],"rely":[188],"fixed":[190],"pre-defined":[192],"(scaling":[196],"vector).":[200],"To":[201],"address":[202],"limitation,":[204],"suggests":[207],"environments.":[225],"consists":[229],"three":[231],"parts:":[232],"1)":[233],"By":[234,256,292],"considering":[235],"environment":[241],"as":[242],"perturbations":[243],"asymptotically":[245],"stable":[246],"virtual":[247],"systems,":[248],"unconstrained":[249],"generated.":[254],"2)":[255],"employing":[257],"functions,":[261],"we":[262],"solve":[263],"bounded":[265],"magnitude":[266],"constraints":[267],"(DAT)":[272],"algorithms":[273],"minimum":[276],"scale":[277],"constraint":[278],"collision":[280],"avoidance,":[281],"leading":[282],"generation":[285],"constrained":[287,313],"policies.":[290,316],"3)":[291],"DAT":[294],"algorithms,":[295],"all":[296],"robots":[297],"can":[298,332],"cooperatively":[299],"obtain":[300],"uniform":[302],"parameter,":[304],"exactly":[307],"weighted":[309],"Therefore,":[328],"be":[333],"deployed":[334],"systems":[337],"manner.":[341],"feasibility":[352],"its":[358],"potential":[359],"industrial":[361],"applications.":[362]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}