{"id":"https://openalex.org/W4401878989","doi":"https://doi.org/10.1109/tcst.2024.3443703","title":"A Distributed NSB Algorithm for Formation Path Following","display_name":"A Distributed NSB Algorithm for Formation Path Following","publication_year":2024,"publication_date":"2024-08-26","ids":{"openalex":"https://openalex.org/W4401878989","doi":"https://doi.org/10.1109/tcst.2024.3443703"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2024.3443703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3443703","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/A5010779788","display_name":"Josef Matou\u0161","orcid":"https://orcid.org/0000-0001-6203-2970"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Josef Matou\u0161","raw_affiliation_strings":["Department of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology, Trondheim, Norway"],"raw_orcid":"https://orcid.org/0000-0001-6203-2970","affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055872448","display_name":"Kristin Y. Pettersen","orcid":"https://orcid.org/0000-0002-3897-0315"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Kristin Y. Pettersen","raw_affiliation_strings":["Department of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology, Trondheim, Norway"],"raw_orcid":"https://orcid.org/0000-0002-3897-0315","affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028112034","display_name":"Damiano Varagnolo","orcid":"https://orcid.org/0000-0002-4310-7938"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Damiano Varagnolo","raw_affiliation_strings":["Department of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology, Trondheim, Norway"],"raw_orcid":"https://orcid.org/0000-0002-4310-7938","affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065546868","display_name":"Claudio Paliotta","orcid":"https://orcid.org/0000-0002-2031-9161"},"institutions":[{"id":"https://openalex.org/I173888879","display_name":"SINTEF","ror":"https://ror.org/01f677e56","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879"]},{"id":"https://openalex.org/I4387930215","display_name":"SINTEF Digital","ror":"https://ror.org/028m52w57","country_code":null,"type":"facility","lineage":["https://openalex.org/I173888879","https://openalex.org/I4387930215"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Claudio Paliotta","raw_affiliation_strings":["SINTEF Digital, Trondheim, Norway"],"raw_orcid":"https://orcid.org/0000-0002-2031-9161","affiliations":[{"raw_affiliation_string":"SINTEF Digital, Trondheim, Norway","institution_ids":["https://openalex.org/I173888879","https://openalex.org/I4387930215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8146,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.72664459,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"33","issue":"1","first_page":"16","last_page":"31"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14470","display_name":"Advanced Data Processing Techniques","score":0.9775000214576721,"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"}},"topics":[{"id":"https://openalex.org/T14470","display_name":"Advanced Data Processing Techniques","score":0.9775000214576721,"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/T13734","display_name":"Advanced Computational Techniques and Applications","score":0.9754999876022339,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10679","display_name":"Service-Oriented Architecture and Web Services","score":0.9621999859809875,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"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/path","display_name":"Path (computing)","score":0.5668190717697144},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5464053750038147},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.35353347659111023},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.16213181614875793}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5668190717697144},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5464053750038147},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35353347659111023},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.16213181614875793}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2024.3443703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3443703","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:www.research.unipd.it:11577/3541257","is_oa":false,"landing_page_url":"https://hdl.handle.net/11577/3541257","pdf_url":null,"source":{"id":"https://openalex.org/S4306402547","display_name":"Padua Research Archive (University of Padova)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3183893545","display_name":null,"funder_award_id":"302435","funder_id":"https://openalex.org/F4320322887","funder_display_name":"The Research Council"},{"id":"https://openalex.org/G3775710763","display_name":null,"funder_award_id":"344847","funder_id":"https://openalex.org/F4320322887","funder_display_name":"The Research Council"},{"id":"https://openalex.org/G3849463164","display_name":null,"funder_award_id":"344847","funder_id":"https://openalex.org/F4320323299","funder_display_name":"Norges Forskningsr\u00e5d"},{"id":"https://openalex.org/G4917005151","display_name":null,"funder_award_id":"302435","funder_id":"https://openalex.org/F4320323299","funder_display_name":"Norges Forskningsr\u00e5d"}],"funders":[{"id":"https://openalex.org/F4320322887","display_name":"The Research Council","ror":"https://ror.org/03tcppy59"},{"id":"https://openalex.org/F4320323299","display_name":"Norges Forskningsr\u00e5d","ror":"https://ror.org/00epmv149"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1135555303","https://openalex.org/W1987428198","https://openalex.org/W1988860292","https://openalex.org/W2036316876","https://openalex.org/W2058857355","https://openalex.org/W2098347445","https://openalex.org/W2098836278","https://openalex.org/W2125043338","https://openalex.org/W2125298858","https://openalex.org/W2125729219","https://openalex.org/W2136947569","https://openalex.org/W2139126617","https://openalex.org/W2152045673","https://openalex.org/W2220108436","https://openalex.org/W2289832038","https://openalex.org/W2315584447","https://openalex.org/W2411333092","https://openalex.org/W2471990854","https://openalex.org/W2492811885","https://openalex.org/W2583020175","https://openalex.org/W2768779900","https://openalex.org/W2790558152","https://openalex.org/W2795115382","https://openalex.org/W2910436502","https://openalex.org/W2925144242","https://openalex.org/W2948873505","https://openalex.org/W2963051645","https://openalex.org/W2969076806","https://openalex.org/W3008282431","https://openalex.org/W3031017146","https://openalex.org/W3175985899","https://openalex.org/W3209512967","https://openalex.org/W4206668738","https://openalex.org/W4292070509","https://openalex.org/W4307420178","https://openalex.org/W4388904462","https://openalex.org/W4388917934"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2051487156","https://openalex.org/W2073681303","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,43,59],"distributed":[4],"null-space-based":[5,35],"behavioral":[6],"(NSB)":[7],"algorithm":[8,21,33,48,90],"for":[9],"the":[10,47,72,85,88,97],"formation":[11,67],"path-following":[12,68],"problem":[13],"of":[14,26,46,83],"vehicles":[15,30],"moving":[16],"in":[17,93,102],"three":[18],"dimensions.":[19],"The":[20,32,81],"is":[22,91,100],"applied":[23],"to":[24,65],"fleets":[25],"underactuated":[27],"autonomous":[28],"underwater":[29],"(AUVs).":[31],"combines":[34],"control":[36],"with":[37,77],"consensus":[38],"methods.":[39],"First,":[40],"we":[41,57],"present":[42,58],"continuous-time":[44,86],"version":[45,62,99],"and":[49,87],"prove":[50],"its":[51],"stability":[52],"using":[53],"Lyapunov":[54],"analysis.":[55],"Then,":[56],"discrete-time":[60,89,98],"event-triggered":[61],"that,":[63],"compared":[64],"similar":[66],"methods,":[69],"can":[70],"achieve":[71],"same":[73],"steady":[74],"state-error":[75],"performance":[76],"fewer":[78],"inter-vehicle":[79],"transmissions.":[80],"effectiveness":[82],"both":[84],"verified":[92],"numerical":[94],"simulations.":[95],"Furthermore,":[96],"tested":[101],"experiments.":[103]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}