{"id":"https://openalex.org/W3119687604","doi":"https://doi.org/10.1109/tcns.2021.3050125","title":"Controllability of Formation Systems on Special Orthogonal Groups Over Directed Graphs","display_name":"Controllability of Formation Systems on Special Orthogonal Groups Over Directed Graphs","publication_year":2021,"publication_date":"2021-01-09","ids":{"openalex":"https://openalex.org/W3119687604","doi":"https://doi.org/10.1109/tcns.2021.3050125","mag":"3119687604"},"language":"en","primary_location":{"id":"doi:10.1109/tcns.2021.3050125","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2021.3050125","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":"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/A5018583528","display_name":"Michael Sinner","orcid":"https://orcid.org/0000-0001-8766-0711"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Sinner","raw_affiliation_strings":["Department of Electrical, Computer, and Energy Engineering, University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0001-8766-0711","affiliations":[{"raw_affiliation_string":"Department of Electrical, Computer, and Energy Engineering, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100326717","display_name":"Xudong Chen","orcid":"https://orcid.org/0000-0002-0135-0606"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xudong Chen","raw_affiliation_strings":["Department of Electrical, Computer, and Energy Engineering, University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0002-0135-0606","affiliations":[{"raw_affiliation_string":"Department of Electrical, Computer, and Energy Engineering, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062050694","display_name":"Lucy Y. Pao","orcid":"https://orcid.org/0000-0001-9450-8902"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lucy Pao","raw_affiliation_strings":["Department of Electrical, Computer, and Energy Engineering, University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0001-9450-8902","affiliations":[{"raw_affiliation_string":"Department of Electrical, Computer, and Energy Engineering, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I188538660"],"apc_list":null,"apc_paid":null,"fwci":0.3035,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.56016582,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"8","issue":"2","first_page":"872","last_page":"883"},"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/T11896","display_name":"Opportunistic and Delay-Tolerant Networks","score":0.9923999905586243,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9850999712944031,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.8338742256164551},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.6905484795570374},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6074426174163818},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5043350458145142},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4995439052581787},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4869343042373657},{"id":"https://openalex.org/keywords/configuration-design","display_name":"Configuration design","score":0.4776243567466736},{"id":"https://openalex.org/keywords/linear-system","display_name":"Linear system","score":0.4412662088871002},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4258764088153839},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41965654492378235},{"id":"https://openalex.org/keywords/strict-feedback-form","display_name":"Strict-feedback form","score":0.41660842299461365},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3947727382183075},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3868333697319031},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.2648467719554901},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.23704379796981812},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22014084458351135},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.19184759259223938},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.1516607105731964},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1113695502281189},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.08430254459381104}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.8338742256164551},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.6905484795570374},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6074426174163818},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5043350458145142},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4995439052581787},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4869343042373657},{"id":"https://openalex.org/C10451660","wikidata":"https://www.wikidata.org/wiki/Q5160113","display_name":"Configuration design","level":2,"score":0.4776243567466736},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.4412662088871002},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4258764088153839},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41965654492378235},{"id":"https://openalex.org/C121047784","wikidata":"https://www.wikidata.org/wiki/Q7623607","display_name":"Strict-feedback form","level":5,"score":0.41660842299461365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3947727382183075},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3868333697319031},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2648467719554901},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.23704379796981812},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22014084458351135},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.19184759259223938},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.1516607105731964},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1113695502281189},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.08430254459381104},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tcns.2021.3050125","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2021.3050125","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:cuscholar:dz010r21s","is_oa":false,"landing_page_url":"https://scholar.colorado.edu/concern/articles/dz010r21s","pdf_url":null,"source":{"id":"https://openalex.org/S4306401957","display_name":"CU Scholar (University of Colorado Boulder)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I188538660","host_organization_name":"University of Colorado Boulder","host_organization_lineage":["https://openalex.org/I188538660"],"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":"Postprint"},{"id":"pmh:oai:cuscholar:zp38wf03r","is_oa":false,"landing_page_url":"https://scholar.colorado.edu/concern/articles/zp38wf03r","pdf_url":null,"source":{"id":"https://openalex.org/S4306401957","display_name":"CU Scholar (University of Colorado Boulder)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I188538660","host_organization_name":"University of Colorado Boulder","host_organization_lineage":["https://openalex.org/I188538660"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Postprint"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6478412378","display_name":null,"funder_award_id":"ECCS-1809315","funder_id":"https://openalex.org/F4320309085","funder_display_name":"Center for Selective C-H Functionalization, National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320309085","display_name":"Center for Selective C-H Functionalization, National Science Foundation","ror":"https://ror.org/02h8v7m77"},{"id":"https://openalex.org/F4320338290","display_name":"National Renewable Energy Laboratory","ror":"https://ror.org/036266993"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1540059687","https://openalex.org/W1547358136","https://openalex.org/W1588827410","https://openalex.org/W1981826826","https://openalex.org/W1990304174","https://openalex.org/W1991880036","https://openalex.org/W2000380922","https://openalex.org/W2006369299","https://openalex.org/W2012159654","https://openalex.org/W2028706574","https://openalex.org/W2041277461","https://openalex.org/W2053130909","https://openalex.org/W2059688021","https://openalex.org/W2075032588","https://openalex.org/W2085728855","https://openalex.org/W2086329859","https://openalex.org/W2099175737","https://openalex.org/W2107396783","https://openalex.org/W2125668987","https://openalex.org/W2138296912","https://openalex.org/W2140998418","https://openalex.org/W2165744313","https://openalex.org/W2342931538","https://openalex.org/W2790832316","https://openalex.org/W2792863538","https://openalex.org/W2808248428","https://openalex.org/W2940830480","https://openalex.org/W2962992878","https://openalex.org/W2963104770","https://openalex.org/W2963298412","https://openalex.org/W2995082029","https://openalex.org/W3099016699","https://openalex.org/W3111295588","https://openalex.org/W4213142442","https://openalex.org/W4255596505","https://openalex.org/W7061399666"],"related_works":["https://openalex.org/W2054831413","https://openalex.org/W1999673819","https://openalex.org/W3209184047","https://openalex.org/W4237454804","https://openalex.org/W1942635442","https://openalex.org/W1990421243","https://openalex.org/W2170835896","https://openalex.org/W2539338955","https://openalex.org/W2026024153","https://openalex.org/W2009912023"],"abstract_inverted_index":{"Gradient":[0],"flows":[1,95],"provide":[2,184],"a":[3,6,15,61,70,168,180,185],"means":[4],"for":[5],"networked":[7],"formation":[8,63,112],"system":[9,64,76,113,134],"to":[10,48,138],"reach":[11],"and":[12,22,123,183],"stabilize":[13],"at":[14,83,117],"target":[16,50,84],"configuration.":[17,51],"However,":[18],"the":[19,23,26,30,49,57,75,91,107,111,125,129,133,145,147,150,156,162,177,189],"decentralization":[20],"constraints":[21],"geometry":[24],"of":[25,32,40,74,90,96,127,149,188],"state":[27],"space":[28],"make":[29],"appearance":[31],"stable":[33,43],"but":[34],"undesired":[35,42,119],"configurations":[36,44],"inevitable.":[37],"The":[38,87],"presence":[39],"these":[41],"precludes":[45],"global":[46],"convergence":[47],"In":[52],"this":[53],"article,":[54],"we":[55,121],"address":[56,124],"issue":[58],"by":[59,106,142],"considering":[60],"controlled":[62],"on":[65,144],"special":[66],"orthogonal":[67],"groups":[68],"over":[69],"directed":[71],"graph.":[72],"Agents":[73],"are":[77,93,102],"tasked":[78],"with":[79,167],"stabilizing":[80],"from":[81,114,135],"others":[82],"relative":[85],"attitudes.":[86],"nominal":[88],"dynamics":[89],"agents":[92],"gradient":[94],"certain":[97],"potential":[98,151],"functions.":[99,152],"These":[100],"functions":[101],"parameter":[103],"dependent,":[104],"pretuned":[105],"controller.":[108],"To":[109],"prevent":[110],"being":[115,172],"trapped":[116],"an":[118],"configuration,":[120],"formulate":[122,176],"problem":[126],"whether":[128],"controller":[130],"can":[131],"steer":[132],"any":[136,139],"configuration":[137,141],"other":[140],"retuning,":[143],"fly,":[146],"parameters":[148],"We":[153,175],"show":[154],"that":[155,161],"answer":[157],"is":[158,165],"affirmative":[159],"provided":[160],"underlying":[163],"graph":[164],"rooted":[166],"single":[169],"root":[170],"node":[171],"fully":[173],"actuated.":[174],"result":[178],"as":[179],"main":[181],"theorem":[182],"complete":[186],"proof":[187],"result.":[190]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2021-01-18T00:00:00"}
