{"id":"https://openalex.org/W2792406739","doi":"https://doi.org/10.1109/tcst.2017.2763938","title":"Circular Formation Control of Multiple Unicycle-Type Agents With Nonidentical Constant Speeds","display_name":"Circular Formation Control of Multiple Unicycle-Type Agents With Nonidentical Constant Speeds","publication_year":2018,"publication_date":"2018-01-23","ids":{"openalex":"https://openalex.org/W2792406739","doi":"https://doi.org/10.1109/tcst.2017.2763938","mag":"2792406739"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2017.2763938","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2017.2763938","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Systems Technology","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/A5100778346","display_name":"Zhiyong Sun","orcid":"https://orcid.org/0000-0002-4700-1479"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhiyong Sun","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China","Hangzhou Dianzi University"],"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"Hangzhou Dianzi University","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002036265","display_name":"H\u00e9ctor Garc\u00eda de Marina","orcid":"https://orcid.org/0000-0002-3341-6745"},"institutions":[{"id":"https://openalex.org/I100296615","display_name":"\u00c9cole Nationale de l\u2019Aviation Civile","ror":"https://ror.org/022zdgq74","country_code":"FR","type":"education","lineage":["https://openalex.org/I100296615","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Hector Garcia de Marina","raw_affiliation_strings":["University of Toulouse, Ecole Nationale de l\u2019Aviation Civile, Toulouse, France","Ecole Nationale de l'Aviation Civile"],"affiliations":[{"raw_affiliation_string":"University of Toulouse, Ecole Nationale de l\u2019Aviation Civile, Toulouse, France","institution_ids":["https://openalex.org/I100296615"]},{"raw_affiliation_string":"Ecole Nationale de l'Aviation Civile","institution_ids":["https://openalex.org/I100296615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074493029","display_name":"Georg S. Seyboth","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Georg S. Seyboth","raw_affiliation_strings":["Institute for Systems Theory and Automatic Control, University of Stuttgart, Stuttgart, Germany","University of Stuttgart"],"affiliations":[{"raw_affiliation_string":"Institute for Systems Theory and Automatic Control, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"University of Stuttgart","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015736743","display_name":"Brian D. O. Anderson","orcid":"https://orcid.org/0000-0002-1493-4774"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]},{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU","CN"],"is_corresponding":false,"raw_author_name":"Brian D. O. Anderson","raw_affiliation_strings":["Data61-CSIRO, Canberra, ACT, Australia","Hangzhou Dianzi University"],"affiliations":[{"raw_affiliation_string":"Data61-CSIRO, Canberra, ACT, Australia","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]},{"raw_affiliation_string":"Hangzhou Dianzi University","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003451705","display_name":"Changbin Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changbin Yu","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China","Hangzhou Dianzi University"],"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"Hangzhou Dianzi University","institution_ids":["https://openalex.org/I50760025"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100778346"],"corresponding_institution_ids":["https://openalex.org/I50760025"],"apc_list":null,"apc_paid":null,"fwci":7.4123,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":{"value":0.97399534,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"27","issue":"1","first_page":"192","last_page":"205"},"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/T11133","display_name":"UAV Applications and Optimization","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10246","display_name":"Mobile Ad Hoc Networks","score":0.9835000038146973,"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/constant","display_name":"Constant (computer programming)","score":0.682880699634552},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.67255038022995},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5649490356445312},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.5210920572280884},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5039514899253845},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4995591640472412},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4800601899623871},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.46657025814056396},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.4227648079395294},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26711106300354004},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2278864085674286},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22413337230682373},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20172736048698425},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10840225219726562},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07338103652000427}],"concepts":[{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.682880699634552},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.67255038022995},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5649490356445312},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.5210920572280884},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5039514899253845},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4995591640472412},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4800601899623871},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.46657025814056396},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.4227648079395294},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26711106300354004},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2278864085674286},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22413337230682373},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20172736048698425},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10840225219726562},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07338103652000427},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tcst.2017.2763938","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2017.2763938","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-01700713v1","is_oa":false,"landing_page_url":"https://enac.hal.science/hal-01700713","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Control Systems Technology, 2019, 27 (1), pp 192 - 205. ⟨10.1109/TCST.2017.2763938⟩","raw_type":"Journal articles"},{"id":"pmh:oai:openresearch-repository.anu.edu.au:1885/198986","is_oa":false,"landing_page_url":"http://hdl.handle.net/1885/198986","pdf_url":null,"source":{"id":"https://openalex.org/S4306402539","display_name":"ANU Open Research (Australian National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I118347636","host_organization_name":"Australian National University","host_organization_lineage":["https://openalex.org/I118347636"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"Journal article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1450305289","display_name":null,"funder_award_id":"DP160104500","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"},{"id":"https://openalex.org/G262975436","display_name":null,"funder_award_id":"DP130103610","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"},{"id":"https://openalex.org/G4978532773","display_name":null,"funder_award_id":"61375072","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/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W613360614","https://openalex.org/W1630241696","https://openalex.org/W1938116388","https://openalex.org/W1950226784","https://openalex.org/W1977438424","https://openalex.org/W1981209947","https://openalex.org/W1981826826","https://openalex.org/W2002140587","https://openalex.org/W2008409741","https://openalex.org/W2012812921","https://openalex.org/W2015008374","https://openalex.org/W2035945038","https://openalex.org/W2059688021","https://openalex.org/W2089312636","https://openalex.org/W2089724372","https://openalex.org/W2092678171","https://openalex.org/W2097568425","https://openalex.org/W2099531712","https://openalex.org/W2110209467","https://openalex.org/W2130532917","https://openalex.org/W2139504267","https://openalex.org/W2140947684","https://openalex.org/W2147326597","https://openalex.org/W2147501455","https://openalex.org/W2150973821","https://openalex.org/W2152556309","https://openalex.org/W2169914216","https://openalex.org/W2278307206","https://openalex.org/W2305296410","https://openalex.org/W2336158624","https://openalex.org/W2336676057","https://openalex.org/W2505781211","https://openalex.org/W2531763529","https://openalex.org/W2568916826","https://openalex.org/W2605327072","https://openalex.org/W2618851551","https://openalex.org/W2787892525","https://openalex.org/W2907275873","https://openalex.org/W4213142442","https://openalex.org/W4251012943","https://openalex.org/W6675252680","https://openalex.org/W6748844930"],"related_works":["https://openalex.org/W4244052565","https://openalex.org/W2358719579","https://openalex.org/W2385042721","https://openalex.org/W2367929022","https://openalex.org/W2802540229","https://openalex.org/W2351754530","https://openalex.org/W4252778923","https://openalex.org/W2378649906","https://openalex.org/W2391014597","https://openalex.org/W2350113401"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"the":[3,29,40,61,141,150],"problem":[4],"of":[5,12,143,149],"controlling":[6],"formation":[7,36,63,69,75,85,108,137,152],"shapes":[8],"for":[9,38,56,122],"a":[10,34,53,89,93,106,131,136],"group":[11],"nonholonomic":[13],"unicycle-type":[14],"agents":[15,41,103],"with":[16,110,164],"constant":[17],"speeds.":[18],"The":[19,46,117,147],"control":[20,153],"input":[21],"is":[22,31,50,155],"designed":[23],"to":[24,32,43,59,100,134],"steer":[25],"their":[26],"orientations":[27],"and":[28,92,119,139,161],"aim":[30],"achieve":[33],"desired":[35,62,107],"configuration":[37],"all":[39],"subject":[42],"constant-speed":[44,102],"constraints.":[45],"circular":[47,112],"motion":[48],"center":[49],"adopted":[51],"as":[52],"virtual":[54],"position":[55],"each":[57,123,144],"agent":[58,145],"define":[60],"shape.":[64],"We":[65],"consider":[66],"several":[67],"different":[68,74,78,84],"design":[70,86],"approaches":[71],"based":[72],"on":[73],"specifications":[76],"under":[77],"interaction":[79],"graphs.":[80],"In":[81],"particular,":[82],"two":[83],"approaches,":[87],"namely,":[88],"displacement-based":[90],"approach":[91,124],"distance-based":[94],"approach,":[95],"are":[96,125],"discussed":[97],"in":[98,104],"detail":[99],"coordinate":[101],"achieving":[105],"shape":[109,138],"stable":[111],"motions":[113],"via":[114],"limited":[115],"interactions.":[116],"communication":[118],"measurement":[120],"requirements":[121],"also":[126],"discussed.":[127],"Furthermore,":[128],"we":[129],"propose":[130],"combined":[132],"controller":[133],"stabilize":[135],"synchronize":[140],"heading":[142],"simultaneously.":[146],"effectiveness":[148],"proposed":[151],"schemes":[154],"validated":[156],"by":[157],"both":[158],"numerical":[159],"simulations":[160],"real":[162],"experiments":[163],"actual":[165],"unmanned":[166],"fixed-wing":[167],"aircraft.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}