{"id":"https://openalex.org/W4205649791","doi":"https://doi.org/10.1109/tcsii.2021.3140141","title":"Distributed Optimal Formation for Uncertain Euler-Lagrange Systems With Collision Avoidance","display_name":"Distributed Optimal Formation for Uncertain Euler-Lagrange Systems With Collision Avoidance","publication_year":2022,"publication_date":"2022-01-04","ids":{"openalex":"https://openalex.org/W4205649791","doi":"https://doi.org/10.1109/tcsii.2021.3140141"},"language":"en","primary_location":{"id":"doi:10.1109/tcsii.2021.3140141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsii.2021.3140141","pdf_url":null,"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":null,"license_id":null,"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040498107","display_name":"Liangze Jiang","orcid":"https://orcid.org/0000-0003-1757-0117"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Liangze Jiang","raw_affiliation_strings":["State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0003-1757-0117","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041006270","display_name":"Zhenghong Jin","orcid":"https://orcid.org/0000-0002-0098-712X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]},{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Zhenghong Jin","raw_affiliation_strings":["State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-0098-712X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048988815","display_name":"Zhengyan Qin","orcid":"https://orcid.org/0000-0001-6310-0971"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengyan Qin","raw_affiliation_strings":["State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0001-6310-0971","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5040498107"],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":5.2789,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.95827317,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"69","issue":"8","first_page":"3415","last_page":"3419"},"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/T10482","display_name":"Mathematical and Theoretical Epidemiology and Ecology Models","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.982200026512146,"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/collision-avoidance","display_name":"Collision avoidance","score":0.6968396306037903},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5908405184745789},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5668935179710388},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5238221287727356},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4955805540084839},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4911944568157196},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47581297159194946},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.41360968351364136},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.38525113463401794},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25941193103790283},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.05847954750061035}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6968396306037903},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5908405184745789},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5668935179710388},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5238221287727356},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4955805540084839},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4911944568157196},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47581297159194946},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.41360968351364136},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.38525113463401794},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25941193103790283},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.05847954750061035},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcsii.2021.3140141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsii.2021.3140141","pdf_url":null,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Circuits and Systems II: Express Briefs","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6800000071525574}],"awards":[{"id":"https://openalex.org/G2042311740","display_name":null,"funder_award_id":"LJKZ0164","funder_id":"https://openalex.org/F4320327799","funder_display_name":"Scientific Research Fund of Liaoning Provincial Education Department"},{"id":"https://openalex.org/G2334386490","display_name":null,"funder_award_id":"61673099","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/F4320327799","display_name":"Scientific Research Fund of Liaoning Provincial Education Department","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W194456869","https://openalex.org/W391578156","https://openalex.org/W1963567492","https://openalex.org/W1997834106","https://openalex.org/W2019374240","https://openalex.org/W2022255443","https://openalex.org/W2054232836","https://openalex.org/W2057929279","https://openalex.org/W2114791779","https://openalex.org/W2153389562","https://openalex.org/W2154834860","https://openalex.org/W2592202249","https://openalex.org/W2597364644","https://openalex.org/W2737628516","https://openalex.org/W2762913477","https://openalex.org/W2901790394","https://openalex.org/W2918707995","https://openalex.org/W2946038967","https://openalex.org/W2962771678","https://openalex.org/W2998429856","https://openalex.org/W3028891916","https://openalex.org/W3045961302","https://openalex.org/W3102046265","https://openalex.org/W3122098166","https://openalex.org/W3154633245","https://openalex.org/W3162506489","https://openalex.org/W3168862747","https://openalex.org/W4240749682"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2743212448","https://openalex.org/W2889566344","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W2367088048"],"abstract_inverted_index":{"Based":[0],"on":[1],"the":[2,57,65,72,76],"framework":[3],"of":[4,15,22,40,67,92],"distributed":[5,11,49,59],"optimization":[6,50],"algorithms,":[7],"this":[8],"brief":[9],"studies":[10],"optimal":[12,60,73],"formation":[13,61],"behaviors":[14],"multi-agent":[16],"systems":[17,25],"modeled":[18],"as":[19],"a":[20,41,47,89],"group":[21],"uncertain":[23],"Euler-Lagrange":[24],"with":[26,80],"collision":[27,81],"avoidance.":[28,82],"Assume":[29],"that":[30],"each":[31],"agent":[32],"can":[33,63],"only":[34],"obtain":[35],"measured":[36],"position-based":[37],"gradient":[38],"value":[39],"local":[42],"objective":[43,78],"function.":[44],"By":[45],"integrating":[46],"modified":[48],"algorithm":[51],"and":[52],"an":[53],"adaptive":[54],"control":[55],"law,":[56],"proposed":[58,84],"controllers":[62],"lead":[64],"positions":[66],"agents":[68],"asymptotically":[69],"converging":[70],"to":[71,75],"solution":[74],"total":[77],"function":[79],"The":[83],"design":[85],"is":[86],"verified":[87],"by":[88],"numerical":[90],"example":[91],"mobile":[93],"relays":[94],"for":[95],"communication.":[96]},"counts_by_year":[{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}