{"id":"https://openalex.org/W4396982447","doi":"https://doi.org/10.1109/tcst.2024.3397018","title":"Formation Control of Nonholonomic Multirobot Systems Over Robot Coordinate Frames and Its Application to LiDAR-Based Robots","display_name":"Formation Control of Nonholonomic Multirobot Systems Over Robot Coordinate Frames and Its Application to LiDAR-Based Robots","publication_year":2024,"publication_date":"2024-05-16","ids":{"openalex":"https://openalex.org/W4396982447","doi":"https://doi.org/10.1109/tcst.2024.3397018"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2024.3397018","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3397018","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/tcst.2024.3397018","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032693556","display_name":"Kazunori Sakurama","orcid":"https://orcid.org/0000-0002-7754-7915"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kazunori Sakurama","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Toyonaka, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7754-7915","affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058454741","display_name":"Chunlai Peng","orcid":"https://orcid.org/0000-0002-2191-443X"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]},{"id":"https://openalex.org/I39012071","display_name":"Kyoto College of Graduate Studies for Informatics","ror":"https://ror.org/05mzj8a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I39012071"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Chunlai Peng","raw_affiliation_strings":["Graduate School of Informatics, Kyoto University, Kyoto, Japan"],"raw_orcid":"https://orcid.org/0000-0002-2191-443X","affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I39012071","https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027577456","display_name":"Ryo Asai","orcid":null},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]},{"id":"https://openalex.org/I39012071","display_name":"Kyoto College of Graduate Studies for Informatics","ror":"https://ror.org/05mzj8a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I39012071"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryo Asai","raw_affiliation_strings":["Graduate School of Informatics, Kyoto University, Kyoto, Japan"],"raw_orcid":"https://orcid.org/0009-0000-0982-8937","affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I39012071","https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046709684","display_name":"Hirokazu Sakata","orcid":null},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]},{"id":"https://openalex.org/I39012071","display_name":"Kyoto College of Graduate Studies for Informatics","ror":"https://ror.org/05mzj8a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I39012071"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hirokazu Sakata","raw_affiliation_strings":["Graduate School of Informatics, Kyoto University, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I39012071","https://openalex.org/I22299242"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086192313","display_name":"Mitsuhiro Yamazumi","orcid":"https://orcid.org/0000-0002-2889-8583"},"institutions":[{"id":"https://openalex.org/I4210133125","display_name":"Mitsubishi Electric (Japan)","ror":"https://ror.org/033y26782","country_code":"JP","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuhiro Yamazumi","raw_affiliation_strings":["Advanced Technology Research and Development Center, Mitsubishi Electric Corporation, Amagasaki, Japan"],"raw_orcid":"https://orcid.org/0000-0002-2889-8583","affiliations":[{"raw_affiliation_string":"Advanced Technology Research and Development Center, Mitsubishi Electric Corporation, Amagasaki, Japan","institution_ids":["https://openalex.org/I4210133125"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5032693556"],"corresponding_institution_ids":["https://openalex.org/I98285908"],"apc_list":null,"apc_paid":null,"fwci":3.6412,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.93352908,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"32","issue":"6","first_page":"2075","last_page":"2089"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.989799976348877,"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":0.989799976348877,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9819999933242798,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9695000052452087,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.7629508972167969},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6443051099777222},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5204282402992249},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5182409286499023},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.4577331840991974},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4381875991821289},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.416171133518219},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32410022616386414},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.24354982376098633},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.13826146721839905}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7629508972167969},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6443051099777222},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5204282402992249},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5182409286499023},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.4577331840991974},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4381875991821289},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.416171133518219},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32410022616386414},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.24354982376098633},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.13826146721839905}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2024.3397018","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3397018","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tcst.2024.3397018","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3397018","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4215213874","display_name":null,"funder_award_id":"23H04468","funder_id":"https://openalex.org/F4320320212","funder_display_name":"Japan Society for the Promotion of Science London"},{"id":"https://openalex.org/G6519158467","display_name":null,"funder_award_id":"22H01511","funder_id":"https://openalex.org/F4320320212","funder_display_name":"Japan Society for the Promotion of Science London"}],"funders":[{"id":"https://openalex.org/F4320320212","display_name":"Japan Society for the Promotion of Science London","ror":"https://ror.org/02m7axw05"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W112858196","https://openalex.org/W1557899381","https://openalex.org/W1788292158","https://openalex.org/W1945657812","https://openalex.org/W1964537835","https://openalex.org/W1981826826","https://openalex.org/W1994122308","https://openalex.org/W2002655995","https://openalex.org/W2014678902","https://openalex.org/W2017432132","https://openalex.org/W2020909728","https://openalex.org/W2030056867","https://openalex.org/W2035945038","https://openalex.org/W2039245308","https://openalex.org/W2044739225","https://openalex.org/W2107396783","https://openalex.org/W2119568445","https://openalex.org/W2130532917","https://openalex.org/W2138296912","https://openalex.org/W2143896563","https://openalex.org/W2146890818","https://openalex.org/W2148993855","https://openalex.org/W2160643434","https://openalex.org/W2167485994","https://openalex.org/W2170203962","https://openalex.org/W2234376346","https://openalex.org/W2240890113","https://openalex.org/W2419390086","https://openalex.org/W2736361778","https://openalex.org/W2755238136","https://openalex.org/W2787958879","https://openalex.org/W2904995204","https://openalex.org/W2962992878","https://openalex.org/W3013793781","https://openalex.org/W3149532100","https://openalex.org/W3152770304","https://openalex.org/W3154933122","https://openalex.org/W3155289147","https://openalex.org/W3197079492","https://openalex.org/W4205280300","https://openalex.org/W4241492945","https://openalex.org/W4242165794"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W2020829486","https://openalex.org/W2122871747","https://openalex.org/W2016451691","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0],"article":[1],"addresses":[2],"a":[3,54,91,117],"formation":[4,127],"control":[5,45,110],"problem":[6],"for":[7],"nonholonomic":[8,17,49],"multirobot":[9],"systems":[10],"in":[11,21,71,136,190],"robot":[12,22,73,137],"coordinate":[13,23,74,138],"frames.":[14],"First,":[15],"the":[16,28,33,48,57,69,72,79,98,101,109,114,125,142,146,157,160,181,184],"constraint":[18,50],"and":[19,131,140,162,193,204],"measurement":[20,70,134],"frames":[24,139],"are":[25],"modeled":[26],"with":[27,116,201],"Lie":[29],"group":[30,80],"theory":[31],"on":[32],"special":[34],"Euclidean":[35],"group,":[36],"<inline-formula":[37,61,83],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[38,62,84],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[39,63,85],"<tex-math":[40,64,86],"notation=\"LaTeX\">${\\mathrm":[41,65,87],"{SE}}_{d}$":[42,66,88],"</tex-math></inline-formula>.":[43,89],"The":[44,150],"space":[46,59,192],"under":[47],"is":[51,76,94,129,153,165,186],"defined":[52],"as":[53,78],"subspace":[55],"of":[56,60,82,100,104,145,156,159,183],"tangent":[58],"</tex-math></inline-formula>,":[67],"whereas":[68],"frame":[75],"given":[77],"action":[81],"Then,":[90],"gradient-based":[92,147],"method":[93,115,152,185],"developed":[95],"by":[96,196],"using":[97,113],"projection":[99],"gradient":[102],"flow":[103],"an":[105,194],"objective":[106,119],"function":[107,120],"onto":[108],"space.":[111],"By":[112],"clique-based":[118],"rather":[121],"than":[122],"edge-based":[123],"ones,":[124],"designed":[126],"controller":[128],"distributed":[130,148],"uses":[132],"only":[133,169],"information":[135],"has":[141],"best":[143],"performance":[144],"controllers.":[149],"proposed":[151],"valid":[154],"regardless":[155],"dimension":[158],"space,":[161],"therefore,":[163],"it":[164],"applicable":[166],"to":[167],"not":[168],"automatic":[170],"guided":[171],"vehicles":[172,178],"(AGVs)":[173],"but":[174],"also":[175],"unmanned":[176],"aerial":[177],"(UAVs).":[179],"Finally,":[180],"effectiveness":[182],"demonstrated":[187],"through":[188],"simulations":[189],"3-D":[191],"experiment":[195],"mobile":[197],"indoor":[198],"robots":[199],"equipped":[200],"light":[202],"detection":[203],"ranging":[205],"(LiDAR).":[206]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}