{"id":"https://openalex.org/W4403863484","doi":"https://doi.org/10.1109/tcns.2024.3487621","title":"Similarity-Based Rigidity Formation Maneuver Control of Underactuated Surface Vehicles Over Directed Graphs","display_name":"Similarity-Based Rigidity Formation Maneuver Control of Underactuated Surface Vehicles Over Directed Graphs","publication_year":2024,"publication_date":"2024-10-29","ids":{"openalex":"https://openalex.org/W4403863484","doi":"https://doi.org/10.1109/tcns.2024.3487621"},"language":"en","primary_location":{"id":"doi:10.1109/tcns.2024.3487621","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2024.3487621","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/A5019957464","display_name":"Yunchang Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yunchang Huang","raw_affiliation_strings":["School of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025577543","display_name":"Shi\u2010Lu Dai","orcid":"https://orcid.org/0000-0002-8115-8787"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shi-Lu Dai","raw_affiliation_strings":["School of Automation Science and Engineering, Key Laboratory of Autonomous Systems and Networked Control of Ministry of Education, South China University of Technology, Guangzhou, China","School of Automation Science and Engineering, Key Laboratory of Autonomous Systems and Networked Control of Ministry of Education, South China University of Technology, Guangzhou, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Engineering, Key Laboratory of Autonomous Systems and Networked Control of Ministry of Education, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"School of Automation Science and Engineering, Key Laboratory of Autonomous Systems and Networked Control of Ministry of Education, South China University of Technology, Guangzhou, Guangdong, China","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5019957464"],"corresponding_institution_ids":["https://openalex.org/I90610280"],"apc_list":null,"apc_paid":null,"fwci":3.3421,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.92983187,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"12","issue":"1","first_page":"461","last_page":"473"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9900000095367432,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9876999855041504,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7721645832061768},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.6007644534111023},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5238642692565918},{"id":"https://openalex.org/keywords/directed-graph","display_name":"Directed graph","score":0.44614025950431824},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43884649872779846},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.41838592290878296},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3433615267276764},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3128725290298462},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2685534656047821},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2537690997123718},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2136901617050171},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.10704803466796875}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7721645832061768},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.6007644534111023},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5238642692565918},{"id":"https://openalex.org/C146380142","wikidata":"https://www.wikidata.org/wiki/Q1137726","display_name":"Directed graph","level":2,"score":0.44614025950431824},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43884649872779846},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.41838592290878296},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3433615267276764},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3128725290298462},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2685534656047821},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2537690997123718},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2136901617050171},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.10704803466796875},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcns.2024.3487621","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2024.3487621","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1779619546","display_name":null,"funder_award_id":"42227901","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2365823650","display_name":null,"funder_award_id":"2023A1515011423","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G7379301274","display_name":null,"funder_award_id":"62473162","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G906090786","display_name":null,"funder_award_id":"2024A1515012090","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1495971413","https://openalex.org/W1982947074","https://openalex.org/W2014678902","https://openalex.org/W2060471193","https://openalex.org/W2072020080","https://openalex.org/W2084163350","https://openalex.org/W2097121541","https://openalex.org/W2119120935","https://openalex.org/W2148821382","https://openalex.org/W2195116222","https://openalex.org/W2343422466","https://openalex.org/W2343580824","https://openalex.org/W2624600449","https://openalex.org/W2787958879","https://openalex.org/W2910210236","https://openalex.org/W2912967678","https://openalex.org/W2946194484","https://openalex.org/W2963104770","https://openalex.org/W2963172089","https://openalex.org/W2970708857","https://openalex.org/W3016908631","https://openalex.org/W3028402800","https://openalex.org/W3047091751","https://openalex.org/W3087869918","https://openalex.org/W3089929416","https://openalex.org/W3092327471","https://openalex.org/W3110363133","https://openalex.org/W3127238611","https://openalex.org/W3128214224","https://openalex.org/W3138795788","https://openalex.org/W3155983089","https://openalex.org/W3166907828","https://openalex.org/W4206086137","https://openalex.org/W4223927949","https://openalex.org/W4254358490","https://openalex.org/W4289654359","https://openalex.org/W4312526185","https://openalex.org/W4328007651","https://openalex.org/W4381162304","https://openalex.org/W4387987078","https://openalex.org/W4391216029","https://openalex.org/W4391589623","https://openalex.org/W4392908319"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W2812482866","https://openalex.org/W2758944028"],"abstract_inverted_index":{"This":[0],"article":[1],"develops":[2],"a":[3,9,50,64,69,132],"formation":[4,31,41,45,119],"maneuver":[5,120],"control":[6,25,90,126,150],"strategy":[7,127],"for":[8],"group":[10],"of":[11,52,63,66,73,106,113,147],"underactuated":[12],"unmanned":[13],"surface":[14],"vehicles":[15],"(USVs)":[16],"under":[17],"similarity":[18,53],"rigidity":[19,101],"framework":[20],"over":[21],"directed":[22,137],"graphs.":[23],"The":[24,43,124],"objective":[26],"is":[27,47],"to":[28,79],"achieve":[29],"similar":[30],"transformations":[32],"(translation,":[33],"rotation,":[34],"and":[35,59,136],"scaling)":[36],"while":[37],"maintaining":[38],"the":[39,56,60,74,80,92,99,104,111,114,117,145,148],"desired":[40,44,118],"shape.":[42],"shape":[46],"determined":[48],"by":[49,98],"set":[51],"constraints":[54],"on":[55],"signed":[57],"angle":[58,81],"distance":[61,83],"ratio":[62,84],"pair":[65],"edges":[67],"joining":[68],"common":[70],"vertex.":[71],"Instead":[72],"error":[75],"variables":[76],"with":[77,110],"respect":[78],"or":[82],"usually":[85],"used":[86],"in":[87,131],"traditional":[88],"similarity-rigidity":[89],"methods,":[91],"relative":[93],"position":[94,105],"errors":[95],"are":[96],"obtained":[97],"constant":[100],"matrix.":[102],"Once":[103],"each":[107],"USV":[108],"overlaps":[109],"configuration":[112],"target":[115],"formation,":[116],"can":[121,128],"be":[122,129],"achieved.":[123],"proposed":[125,149],"implemented":[130],"local":[133],"coordinate":[134],"system":[135],"graphs":[138],"without":[139],"intervehicle":[140],"communication.":[141],"Simulation":[142],"results":[143],"demonstrate":[144],"effectiveness":[146],"strategy.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7}],"updated_date":"2026-03-03T08:47:05.690250","created_date":"2025-10-10T00:00:00"}
