{"id":"https://openalex.org/W3146071266","doi":"https://doi.org/10.1109/tcsii.2021.3066555","title":"Finite-Time Bearing-Only Formation Tracking of Heterogeneous Mobile Robots With Collision Avoidance","display_name":"Finite-Time Bearing-Only Formation Tracking of Heterogeneous Mobile Robots With Collision Avoidance","publication_year":2021,"publication_date":"2021-03-17","ids":{"openalex":"https://openalex.org/W3146071266","doi":"https://doi.org/10.1109/tcsii.2021.3066555","mag":"3146071266"},"language":"en","primary_location":{"id":"doi:10.1109/tcsii.2021.3066555","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcsii.2021.3066555","pdf_url":"https://ieeexplore.ieee.org/ielx7/8920/9546915/09380408.pdf","source":{"id":"https://openalex.org/S93916849","display_name":"IEEE Transactions on Circuits & Systems II Express Briefs","issn_l":"1549-7747","issn":["1549-7747","1558-3791"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Circuits and Systems II: Express Briefs","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/8920/9546915/09380408.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028640319","display_name":"Kefan Wu","orcid":"https://orcid.org/0000-0001-7612-581X"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Kefan Wu","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, University of Manchester, Manchester, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, University of Manchester, Manchester, U.K","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073851395","display_name":"Junyan Hu","orcid":"https://orcid.org/0000-0001-7409-3885"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Junyan Hu","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, University of Manchester, Manchester, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7409-3885","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, University of Manchester, Manchester, U.K","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011590665","display_name":"Barry Lennox","orcid":"https://orcid.org/0000-0003-0905-8324"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Barry Lennox","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, University of Manchester, Manchester, U.K"],"raw_orcid":"https://orcid.org/0000-0003-0905-8324","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, University of Manchester, Manchester, U.K","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005614248","display_name":"Farshad Arvin","orcid":"https://orcid.org/0000-0001-7950-3193"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Farshad Arvin","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, University of Manchester, Manchester, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7950-3193","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, University of Manchester, Manchester, U.K","institution_ids":["https://openalex.org/I28407311"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5028640319"],"corresponding_institution_ids":["https://openalex.org/I28407311"],"apc_list":null,"apc_paid":null,"fwci":8.6471,"has_fulltext":true,"cited_by_count":61,"citation_normalized_percentile":{"value":0.9797607,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"68","issue":"10","first_page":"3316","last_page":"3320"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.982200026512146,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11486","display_name":"Micro and Nano Robotics","score":0.9767000079154968,"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/settling-time","display_name":"Settling time","score":0.7991966009140015},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7197494506835938},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6533815860748291},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.652289628982544},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5929253697395325},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5848022103309631},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5813478827476501},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5582348108291626},{"id":"https://openalex.org/keywords/bearing","display_name":"Bearing (navigation)","score":0.5553827285766602},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5227025747299194},{"id":"https://openalex.org/keywords/descent","display_name":"Descent (aeronautics)","score":0.4987757205963135},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.4920494258403778},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.47906216979026794},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.45968788862228394},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.45884501934051514},{"id":"https://openalex.org/keywords/gradient-descent","display_name":"Gradient descent","score":0.4475404620170593},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2535730004310608},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.24843499064445496},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18715548515319824},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15849143266677856},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09496286511421204}],"concepts":[{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.7991966009140015},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7197494506835938},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6533815860748291},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.652289628982544},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5929253697395325},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5848022103309631},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5813478827476501},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5582348108291626},{"id":"https://openalex.org/C199978012","wikidata":"https://www.wikidata.org/wiki/Q1273815","display_name":"Bearing (navigation)","level":2,"score":0.5553827285766602},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5227025747299194},{"id":"https://openalex.org/C2776637919","wikidata":"https://www.wikidata.org/wiki/Q624380","display_name":"Descent (aeronautics)","level":2,"score":0.4987757205963135},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.4920494258403778},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.47906216979026794},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.45968788862228394},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.45884501934051514},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.4475404620170593},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2535730004310608},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.24843499064445496},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18715548515319824},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15849143266677856},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09496286511421204},{"id":"https://openalex.org/C160030872","wikidata":"https://www.wikidata.org/wiki/Q2142864","display_name":"Step response","level":2,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"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/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tcsii.2021.3066555","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcsii.2021.3066555","pdf_url":"https://ieeexplore.ieee.org/ielx7/8920/9546915/09380408.pdf","source":{"id":"https://openalex.org/S93916849","display_name":"IEEE Transactions on Circuits & Systems II Express Briefs","issn_l":"1549-7747","issn":["1549-7747","1558-3791"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Circuits and Systems II: Express Briefs","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:openaire/abe65f5a-ecb4-440d-bef2-09b338d270e8","is_oa":true,"landing_page_url":"https://research.manchester.ac.uk/en/publications/abe65f5a-ecb4-440d-bef2-09b338d270e8","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Wu, K, Hu, J, Lennox, B & Arvin, F 2021, 'Finite-Time Bearing-Only Formation Tracking of Heterogeneous Mobile Robots with Collision Avoidance', IEEE Transactions on Circuits and Systems II: Express Briefs, vol. 68, no. 10, pp. 3316-3320. https://doi.org/10.1109/TCSII.2021.3066555","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:durham-repository.worktribe.com:1203964","is_oa":true,"landing_page_url":"https://durham-repository.worktribe.com/output/1203964","pdf_url":null,"source":{"id":"https://openalex.org/S4306400188","display_name":"Durham Research Online (Durham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I190082696","host_organization_name":"Durham University","host_organization_lineage":["https://openalex.org/I190082696"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},{"id":"pmh:oai:pure.atira.dk:publications/abe65f5a-ecb4-440d-bef2-09b338d270e8","is_oa":true,"landing_page_url":"https://www.research.manchester.ac.uk/portal/en/publications/finitetime-bearingonly-formation-tracking-of-heterogeneous-mobile-robots-with-collision-avoidance(abe65f5a-ecb4-440d-bef2-09b338d270e8).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wu, K, Hu, J, Lennox, B & Arvin, F 2021, 'Finite-Time Bearing-Only Formation Tracking of Heterogeneous Mobile Robots with Collision Avoidance', IEEE Transactions on Circuits and Systems II: Express Briefs, vol. 68, no. 10, pp. 3316-3320. https://doi.org/10.1109/TCSII.2021.3066555","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"doi:10.1109/tcsii.2021.3066555","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcsii.2021.3066555","pdf_url":"https://ieeexplore.ieee.org/ielx7/8920/9546915/09380408.pdf","source":{"id":"https://openalex.org/S93916849","display_name":"IEEE Transactions on Circuits & Systems II Express Briefs","issn_l":"1549-7747","issn":["1549-7747","1558-3791"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Circuits and Systems II: Express Briefs","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Partnerships for the goals","score":0.44999998807907104,"id":"https://metadata.un.org/sdg/17"}],"awards":[{"id":"https://openalex.org/G2518717205","display_name":null,"funder_award_id":"EP/P01366X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6465377262","display_name":"Robotics and Artificial Intelligence for Nuclear (RAIN)","funder_award_id":"EP/R026084/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7409862974","display_name":null,"funder_award_id":"899520","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G8621297432","display_name":"Robotics for Nuclear Environments","funder_award_id":"EP/P01366X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3146071266.pdf","grobid_xml":"https://content.openalex.org/works/W3146071266.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W2034316458","https://openalex.org/W2132115057","https://openalex.org/W2479778494","https://openalex.org/W2790219143","https://openalex.org/W2910210236","https://openalex.org/W2912967678","https://openalex.org/W2921319190","https://openalex.org/W2963196424","https://openalex.org/W2971389823","https://openalex.org/W2973843340","https://openalex.org/W2997995952","https://openalex.org/W2999779667","https://openalex.org/W3001743011","https://openalex.org/W3005663279","https://openalex.org/W3010730012","https://openalex.org/W3011605778","https://openalex.org/W3032903780","https://openalex.org/W3035196714","https://openalex.org/W3038253450","https://openalex.org/W3060083038","https://openalex.org/W3088277896","https://openalex.org/W3095315965","https://openalex.org/W6781706320"],"related_works":["https://openalex.org/W2486267010","https://openalex.org/W4298096494","https://openalex.org/W1678820847","https://openalex.org/W2559216629","https://openalex.org/W1553684505","https://openalex.org/W1607707911","https://openalex.org/W2037211941","https://openalex.org/W4317634134","https://openalex.org/W2015288657","https://openalex.org/W1605491546"],"abstract_inverted_index":{"This":[0],"brief":[1],"proposes":[2],"a":[3,51,62,66,100],"bearing-only":[4],"collision-free":[5],"formation":[6,41,64],"coordination":[7],"strategy":[8],"for":[9,96],"networked":[10],"heterogeneous":[11],"robots,":[12],"where":[13],"each":[14],"robot":[15],"only":[16,34,43],"measures":[17],"the":[18,40,59,73,82,108,111],"relative":[19],"bearings":[20],"of":[21,72,110],"its":[22],"neighbors":[23],"to":[24,57,106],"achieve":[25,61],"cooperation.":[26],"Different":[27],"from":[28],"many":[29],"existing":[30],"studies":[31],"that":[32],"can":[33,42,85],"guarantee":[35],"global":[36],"asymptotic":[37],"stability":[38,71],"(i.e.,":[39],"be":[44,86],"formed":[45],"over":[46],"an":[47],"infinite":[48],"settling":[49],"period),":[50],"gradient-descent":[52],"control":[53],"protocol":[54],"is":[55,76,104],"designed":[56],"make":[58],"robots":[60],"target":[63],"within":[65],"given":[67],"finite":[68],"time.":[69],"The":[70],"multi-robot":[74],"system":[75],"guaranteed":[77],"via":[78],"Lyapunov":[79],"theory,":[80],"and":[81],"convergence":[83],"time":[84],"defined":[87],"by":[88],"users.":[89],"Moreover,":[90],"we":[91],"also":[92],"present":[93],"sufficient":[94],"conditions":[95],"collision":[97],"avoidance.":[98],"Finally,":[99],"simulation":[101],"case":[102],"study":[103],"provided":[105],"verify":[107],"effectiveness":[109],"proposed":[112],"approach.":[113]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":9}],"updated_date":"2026-05-02T08:42:23.175194","created_date":"2025-10-10T00:00:00"}
