{"id":"https://openalex.org/W7125897148","doi":"https://doi.org/10.1109/tase.2026.3658948","title":"Modular Formation Control for Multi-Mobile Robots With Collision Avoidance and Communication Maintenance","display_name":"Modular Formation Control for Multi-Mobile Robots With Collision Avoidance and Communication Maintenance","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7125897148","doi":"https://doi.org/10.1109/tase.2026.3658948"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2026.3658948","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3658948","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":null,"display_name":"Weiming Liu","orcid":"https://orcid.org/0000-0002-0876-844X"},"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":"Weiming Liu","raw_affiliation_strings":["School of Automation and the Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-0876-844X","affiliations":[{"raw_affiliation_string":"School of Automation and the Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007323229","display_name":"G. Q. Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guodong Wang","raw_affiliation_strings":["College of Artificial Intelligence, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0003-3487-1106","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5124062415","display_name":"Xiangyu Wang","orcid":null},"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":"Xiangyu Wang","raw_affiliation_strings":["School of Automation and the Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-8793-381X","affiliations":[{"raw_affiliation_string":"School of Automation and the Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":18.0209,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.97764444,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"23","issue":null,"first_page":"4477","last_page":"4487"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9735999703407288,"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":0.9735999703407288,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.004000000189989805,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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":0.003700000001117587,"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/modular-design","display_name":"Modular design","score":0.722100019454956},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6396999955177307},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5396000146865845},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5231999754905701},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4503999948501587},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4408999979496002},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.42250001430511475},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4115999937057495},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.3734000027179718},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.37290000915527344}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.722100019454956},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6396999955177307},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5396000146865845},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5231999754905701},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.510699987411499},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4706999957561493},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4503999948501587},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4408999979496002},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.42250001430511475},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4189000129699707},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4115999937057495},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.3734000027179718},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.37290000915527344},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.367900013923645},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.35339999198913574},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3467000126838684},{"id":"https://openalex.org/C192126672","wikidata":"https://www.wikidata.org/wiki/Q1068715","display_name":"Telecommunications network","level":2,"score":0.3450999855995178},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3449000120162964},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34369999170303345},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.32899999618530273},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.3140000104904175},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3084000051021576},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.2962999939918518},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.29319998621940613},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.29249998927116394},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.2870999872684479},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.28700000047683716},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.2833999991416931},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.27399998903274536},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.25940001010894775},{"id":"https://openalex.org/C23725684","wikidata":"https://www.wikidata.org/wiki/Q616377","display_name":"Maintenance engineering","level":2,"score":0.25760000944137573},{"id":"https://openalex.org/C138673069","wikidata":"https://www.wikidata.org/wiki/Q322229","display_name":"Tracing","level":2,"score":0.25600001215934753},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.2556999921798706},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.2506999969482422},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2026.3658948","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3658948","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/G6348205343","display_name":null,"funder_award_id":"2025-BS-0222","funder_id":"https://openalex.org/F4320323086","funder_display_name":"Natural Science Foundation of Liaoning Province"},{"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"},{"id":"https://openalex.org/F4320323086","display_name":"Natural Science Foundation of Liaoning Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1517023801","https://openalex.org/W2048848526","https://openalex.org/W2088298161","https://openalex.org/W2103120971","https://openalex.org/W2115388248","https://openalex.org/W2119120935","https://openalex.org/W2147928602","https://openalex.org/W2333718310","https://openalex.org/W2429251376","https://openalex.org/W2561744104","https://openalex.org/W2603752963","https://openalex.org/W2753192761","https://openalex.org/W2794441464","https://openalex.org/W2803065174","https://openalex.org/W2917314747","https://openalex.org/W2951171829","https://openalex.org/W2971983880","https://openalex.org/W2998429856","https://openalex.org/W3007649046","https://openalex.org/W3010829930","https://openalex.org/W3016158569","https://openalex.org/W3025752759","https://openalex.org/W3030071654","https://openalex.org/W3036844951","https://openalex.org/W3044749381","https://openalex.org/W3126119469","https://openalex.org/W3166362349","https://openalex.org/W3196938143","https://openalex.org/W4285214494","https://openalex.org/W4293704324","https://openalex.org/W4312420621","https://openalex.org/W4313151755","https://openalex.org/W4317423198","https://openalex.org/W4317796336","https://openalex.org/W4320015935","https://openalex.org/W4320712965","https://openalex.org/W4379617505","https://openalex.org/W4386737224","https://openalex.org/W4388718659","https://openalex.org/W4388758276","https://openalex.org/W4388822238","https://openalex.org/W4389370886","https://openalex.org/W4391019578","https://openalex.org/W4392543777","https://openalex.org/W4396712946","https://openalex.org/W4400188556","https://openalex.org/W4400877114","https://openalex.org/W4403077548","https://openalex.org/W4404238717","https://openalex.org/W4413553459"],"related_works":[],"abstract_inverted_index":{"To":[0],"further":[1],"improve":[2],"the":[3,14,72,77,84,109,115,141,156,170,173],"safety":[4],"and":[5,25,106,121,151,167],"reliability":[6],"of":[7,20,38,65,71,163,172],"multi-mobile":[8],"robot":[9,120],"systems,":[10],"this":[11],"paper":[12],"investigates":[13],"formation":[15,33,47,86,126,144,158,164,176],"control":[16,34,145,177],"problem":[17],"with":[18,160],"considerations":[19],"collision":[21,147],"avoidance,":[22,148],"communication":[23],"maintenance":[24,150],"robots\u2019":[26],"actuator":[27,110],"bias":[28,111],"faults.":[29,112],"A":[30],"novel":[31],"modular":[32,143,175],"scheme,":[35],"which":[36],"consists":[37],"two":[39],"modules,":[40],"is":[41,50],"established.":[42],"In":[43,139],"Module":[44,96],"I,":[45],"a":[46,58,63],"signal":[48],"generator":[49],"constructed":[51],"based":[52,135],"on":[53,136],"graph":[54],"theory,":[55],"acting":[56],"as":[57,125],"virtual":[59,73],"multi-agent":[60,74],"system":[61,75],"through":[62],"network":[64],"double-integrator":[66],"dynamic":[67],"nodes.":[68],"The":[69],"outputs":[70,124],"(i.e.,":[76],"generator)":[78],"are":[79,101,133],"designed":[80,91,134],"to":[81,104],"asymptotically":[82],"form":[83],"desired":[85,157],"shape":[87,159],"while":[88,154],"satisfying":[89],"some":[90,128],"specific":[92],"constraints.":[93],"Then,":[94],"in":[95],"II,":[97],"extended-state":[98],"observers":[99],"(ESOs)":[100],"firstly":[102],"employed":[103],"estimate":[105],"compensate":[107],"for":[108],"After":[113],"embedding":[114],"corresponding":[116],"node":[117],"within":[118],"each":[119],"taking":[122],"its":[123],"references,":[127],"constrained":[129],"ESO-based":[130],"tracking":[131],"controllers":[132],"back-stepping":[137],"method.":[138],"general,":[140],"proposed":[142,174],"integrates":[146],"connectivity":[149],"fault-tolerant":[152],"functions,":[153],"realizing":[155],"bounded":[161],"convergence":[162],"errors.":[165],"Simulations":[166],"experiments":[168],"demonstrate":[169],"effectiveness":[171],"scheme.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-01-29T00:00:00"}
