{"id":"https://openalex.org/W2964177137","doi":"https://doi.org/10.1109/tcns.2019.2953459","title":"An Optimization-Based Cooperative Path-Following Framework for Multiple Robotic Vehicles","display_name":"An Optimization-Based Cooperative Path-Following Framework for Multiple Robotic Vehicles","publication_year":2019,"publication_date":"2019-11-14","ids":{"openalex":"https://openalex.org/W2964177137","doi":"https://doi.org/10.1109/tcns.2019.2953459","mag":"2964177137"},"language":"en","primary_location":{"id":"doi:10.1109/tcns.2019.2953459","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2019.2953459","pdf_url":null,"source":{"id":"https://openalex.org/S2502544478","display_name":"IEEE Transactions on Control of Network Systems","issn_l":"2325-5870","issn":["2325-5870","2372-2533"],"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 Control of Network Systems","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1907.08531","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003960846","display_name":"Andrea Alessandretti","orcid":"https://orcid.org/0000-0002-1861-8525"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Andrea Alessandretti","raw_affiliation_strings":["Faculty of Engineering, University of Porto, Porto, Portugal","University of Porto"],"raw_orcid":"https://orcid.org/0000-0002-1861-8525","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"University of Porto","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069883451","display_name":"A. Pedro Aguiar","orcid":"https://orcid.org/0000-0001-7105-0505"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"A. Pedro Aguiar","raw_affiliation_strings":["Faculty of Engineering, University of Porto, Porto, Portugal","University of Porto"],"raw_orcid":"https://orcid.org/0000-0001-7105-0505","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"University of Porto","institution_ids":["https://openalex.org/I182534213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5003960846"],"corresponding_institution_ids":["https://openalex.org/I182534213"],"apc_list":null,"apc_paid":null,"fwci":0.1857,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.55072421,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"7","issue":"2","first_page":"1002","last_page":"1014"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9937000274658203,"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/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.9785000085830688,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.7043505907058716},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6180508136749268},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5961319208145142},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5598694086074829},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47800150513648987},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.477298378944397},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4637266993522644},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4558471739292145},{"id":"https://openalex.org/keywords/state-vector","display_name":"State vector","score":0.450437992811203},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4499715566635132},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.421826034784317},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4186718463897705},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.41227272152900696},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39168471097946167},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3511393964290619},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1957632601261139},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19519665837287903},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18643823266029358},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15041035413742065},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14492037892341614},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08231726288795471}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7043505907058716},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6180508136749268},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5961319208145142},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5598694086074829},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47800150513648987},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.477298378944397},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4637266993522644},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4558471739292145},{"id":"https://openalex.org/C2777798563","wikidata":"https://www.wikidata.org/wiki/Q7603916","display_name":"State vector","level":2,"score":0.450437992811203},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4499715566635132},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.421826034784317},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4186718463897705},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.41227272152900696},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39168471097946167},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3511393964290619},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1957632601261139},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19519665837287903},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18643823266029358},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15041035413742065},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14492037892341614},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08231726288795471},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tcns.2019.2953459","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2019.2953459","pdf_url":null,"source":{"id":"https://openalex.org/S2502544478","display_name":"IEEE Transactions on Control of Network Systems","issn_l":"2325-5870","issn":["2325-5870","2372-2533"],"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 Control of Network Systems","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1907.08531","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1907.08531","pdf_url":"https://arxiv.org/pdf/1907.08531","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2964177137","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1907.08531.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1907.08531","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1907.08531","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1907.08531","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1907.08531","pdf_url":"https://arxiv.org/pdf/1907.08531","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6100000143051147,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G3059425546","display_name":null,"funder_award_id":"POCI-01-0145-FEDER-031411","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G3439937706","display_name":null,"funder_award_id":"POCI-01-0145-FEDER-031823","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"}],"funders":[{"id":"https://openalex.org/F4320334779","display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","ror":"https://ror.org/00snfqn58"},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2964177137.pdf"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W55814457","https://openalex.org/W175060410","https://openalex.org/W613360614","https://openalex.org/W822003830","https://openalex.org/W1603765807","https://openalex.org/W1724370735","https://openalex.org/W1976108210","https://openalex.org/W1978956894","https://openalex.org/W1993171261","https://openalex.org/W1995286048","https://openalex.org/W2002027000","https://openalex.org/W2015084328","https://openalex.org/W2028678875","https://openalex.org/W2030766364","https://openalex.org/W2035506160","https://openalex.org/W2038137192","https://openalex.org/W2039836203","https://openalex.org/W2041109651","https://openalex.org/W2073787051","https://openalex.org/W2098902740","https://openalex.org/W2099397914","https://openalex.org/W2099441085","https://openalex.org/W2099740514","https://openalex.org/W2105576913","https://openalex.org/W2107396783","https://openalex.org/W2115775310","https://openalex.org/W2125668987","https://openalex.org/W2137549436","https://openalex.org/W2152343314","https://openalex.org/W2157083671","https://openalex.org/W2160643434","https://openalex.org/W2160786950","https://openalex.org/W2294971861","https://openalex.org/W2492329249","https://openalex.org/W2571200063","https://openalex.org/W2765748295","https://openalex.org/W4211147054","https://openalex.org/W6602273323"],"related_works":["https://openalex.org/W2987190645","https://openalex.org/W2901256018","https://openalex.org/W2547582240","https://openalex.org/W1974954027","https://openalex.org/W2413061019","https://openalex.org/W2889961793","https://openalex.org/W1976714828","https://openalex.org/W2604217954","https://openalex.org/W2168911299","https://openalex.org/W2962925073","https://openalex.org/W2959467990","https://openalex.org/W3085779506","https://openalex.org/W2036846937","https://openalex.org/W2085158825","https://openalex.org/W2077963676","https://openalex.org/W3155875704","https://openalex.org/W2072598678","https://openalex.org/W3134596872","https://openalex.org/W2973026380","https://openalex.org/W2605840666"],"abstract_inverted_index":{"This":[0],"article":[1],"addresses":[2],"the":[3,19,49,64,67,91,95,101,112,116,121,125,128,158,163,183,186,195],"design":[4,105,152],"of":[5,51,62,66,94,124,127,185,198,201],"an":[6,55],"optimization-based":[7],"cooperative":[8,192],"path-following":[9,25],"control":[10,108,140,149,196],"law":[11,109,150],"for":[12],"multiple":[13],"robotic":[14,204],"vehicles":[15],"that":[16,58,110,142,156],"optimally":[17],"balances":[18],"transient":[20],"tradeoff":[21],"between":[22],"coordination":[23,71,86,92,122],"and":[24,54,69,85],"errors.":[26],"To":[27,132],"this":[28,99,173],"end,":[29],"we":[30,135],"formulate":[31],"a":[32,43,60,70,75,106,137,145,153,191,199],"more":[33],"general":[34],"multiagent":[35],"framework":[36],"where":[37],"each":[38,79],"agent":[39,68,80],"is":[40,59,103],"associated":[41],"with":[42,162],"continuous-time":[44],"dynamical":[45],"model,":[46],"which":[47,169],"governs":[48],"evolution":[50],"its":[52,83],"state,":[53],"output":[56,113,159,175],"equation":[57],"function":[61],"both":[63],"state":[65,84],"vector.":[72],"According":[73],"to":[74,104,115,130,151,190],"given":[76],"network":[77,129,200],"topology,":[78],"can":[81,171],"access":[82],"vector,":[87],"as":[88,90],"well":[89],"vectors":[93,123],"neighboring":[96],"agents.":[97],"In":[98],"setup,":[100],"goal":[102],"distributed":[107],"steers":[111],"signals":[114],"origin,":[117],"while":[118],"simultaneously":[119],"driving":[120],"agents":[126],"consensus.":[131],"solve":[133,172],"this,":[134],"propose":[136],"model":[138],"predictive":[139],"scheme":[141,188],"builds":[143],"on":[144],"pre-existing":[146],"auxiliary":[147],"consensus":[148,164],"performance":[154],"index":[155],"combines":[157],"regulation":[160,176],"objective":[161],"objective.":[165],"Convergence":[166],"guarantees":[167],"under":[168],"one":[170],"coordinated":[174],"problem":[177,197],"are":[178],"provided.":[179],"Numerical":[180],"simulations":[181],"display":[182],"effectiveness":[184],"proposed":[187],"applied":[189],"path":[193],"following":[194],"3-D":[202],"nonholonomic":[203],"vehicles.":[205]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}