{"id":"https://openalex.org/W4405717633","doi":"https://doi.org/10.1109/tcst.2024.3517232","title":"Quadrotor Fleet Autonomous Navigation: Fusing Virtual Points Control and Nonlinear Potential Fields","display_name":"Quadrotor Fleet Autonomous Navigation: Fusing Virtual Points Control and Nonlinear Potential Fields","publication_year":2024,"publication_date":"2024-12-23","ids":{"openalex":"https://openalex.org/W4405717633","doi":"https://doi.org/10.1109/tcst.2024.3517232"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2024.3517232","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3517232","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/A5008641599","display_name":"Hern\u00e1n Abaunza","orcid":"https://orcid.org/0000-0001-5325-730X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hern\u00e1n Abaunza","raw_affiliation_strings":["School of Engineering and Sciences, Tecnol&#x00F3;gico de Monterrey, Guadalajara Campus, Zapopan, Jalisco, Mexico"],"raw_orcid":"https://orcid.org/0000-0001-5325-730X","affiliations":[{"raw_affiliation_string":"School of Engineering and Sciences, Tecnol&#x00F3;gico de Monterrey, Guadalajara Campus, Zapopan, Jalisco, Mexico","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101627181","display_name":"P. Castillo","orcid":"https://orcid.org/0000-0001-8324-8762"},"institutions":[{"id":"https://openalex.org/I102516824","display_name":"Universit\u00e9 de Technologie de Compi\u00e8gne","ror":"https://ror.org/04y5kwa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I102516824"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210088387","display_name":"Heuristics and Diagnostics for Complex Systems","ror":"https://ror.org/0075hvk77","country_code":"FR","type":"facility","lineage":["https://openalex.org/I102516824","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210088387","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Pedro Castillo","raw_affiliation_strings":["UMR 7253 Heudiasyc, Universit&#x00E9; de Technologie de Compi&#x00E8;gne, CNRS, Compi&#x00E8;gne, France","UMR7253 Heudiasyc, Universit&#x00E9; de Technologie de Compi&#x00E8;gne, CNRS, Compi&#x00E8;gne, France"],"raw_orcid":"https://orcid.org/0000-0001-8324-8762","affiliations":[{"raw_affiliation_string":"UMR 7253 Heudiasyc, Universit&#x00E9; de Technologie de Compi&#x00E8;gne, CNRS, Compi&#x00E8;gne, France","institution_ids":["https://openalex.org/I102516824","https://openalex.org/I1294671590","https://openalex.org/I4210088387"]},{"raw_affiliation_string":"UMR7253 Heudiasyc, Universit&#x00E9; de Technologie de Compi&#x00E8;gne, CNRS, Compi&#x00E8;gne, France","institution_ids":["https://openalex.org/I102516824","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038387672","display_name":"S. Drakunov","orcid":null},"institutions":[{"id":"https://openalex.org/I84475105","display_name":"Embry\u2013Riddle Aeronautical University","ror":"https://ror.org/010jskt71","country_code":"US","type":"education","lineage":["https://openalex.org/I84475105"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sergey V. Drakunov","raw_affiliation_strings":["Physical Sciences Department, Embry-Riddle Aeronautical University, Daytona Beach, FL, USA"],"raw_orcid":"https://orcid.org/0000-0002-9647-2998","affiliations":[{"raw_affiliation_string":"Physical Sciences Department, Embry-Riddle Aeronautical University, Daytona Beach, FL, USA","institution_ids":["https://openalex.org/I84475105"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1136,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.91433131,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"33","issue":"3","first_page":"903","last_page":"914"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.7337999939918518,"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"}},"topics":[{"id":"https://openalex.org/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.7337999939918518,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.7253999710083008,"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"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.7134000062942505,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.6699690222740173},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5090722441673279},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49813365936279297},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4758955240249634},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39536920189857483},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37575191259384155},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3170986473560333},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1136484146118164}],"concepts":[{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.6699690222740173},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5090722441673279},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49813365936279297},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4758955240249634},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39536920189857483},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37575191259384155},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3170986473560333},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1136484146118164},{"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/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2024.3517232","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3517232","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-05385147v1","is_oa":false,"landing_page_url":"https://cnrs.hal.science/hal-05385147","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, 2025, 33 (3), pp.903-914. &#x27E8;10.1109/TCST.2024.3517232&#x27E9;","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4993965127","display_name":"R\u00e9seau national de plateformes robotiques d'excellence","funder_award_id":"ANR-10-EQPX-0044","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W79064587","https://openalex.org/W1531362183","https://openalex.org/W1858810006","https://openalex.org/W1864806140","https://openalex.org/W1904799423","https://openalex.org/W1968807469","https://openalex.org/W1981685742","https://openalex.org/W1981826826","https://openalex.org/W1993719789","https://openalex.org/W2026802313","https://openalex.org/W2029162591","https://openalex.org/W2061573280","https://openalex.org/W2067359191","https://openalex.org/W2075956742","https://openalex.org/W2080588088","https://openalex.org/W2089928347","https://openalex.org/W2098508993","https://openalex.org/W2103943402","https://openalex.org/W2105850748","https://openalex.org/W2107964428","https://openalex.org/W2109014985","https://openalex.org/W2116966230","https://openalex.org/W2150982344","https://openalex.org/W2159956441","https://openalex.org/W2332388369","https://openalex.org/W2429251376","https://openalex.org/W2522064797","https://openalex.org/W2529509461","https://openalex.org/W2889603624","https://openalex.org/W2970173783","https://openalex.org/W3094461361","https://openalex.org/W3096473056","https://openalex.org/W3130229213","https://openalex.org/W3201311488","https://openalex.org/W4213213759","https://openalex.org/W4303184079","https://openalex.org/W4306851371","https://openalex.org/W4313887139","https://openalex.org/W4320730478","https://openalex.org/W4322576523","https://openalex.org/W4366274731","https://openalex.org/W4382936194","https://openalex.org/W6638415141"],"related_works":["https://openalex.org/W2154204858","https://openalex.org/W2062919732","https://openalex.org/W3209622820","https://openalex.org/W2384997900","https://openalex.org/W2382250648","https://openalex.org/W2736982822","https://openalex.org/W2355362635","https://openalex.org/W248777122","https://openalex.org/W2316051259","https://openalex.org/W3161745314"],"abstract_inverted_index":{"This":[0],"article":[1],"introduces":[2],"a":[3,8,20,34,51,72],"multilayer":[4],"navigation":[5],"algorithm":[6,98],"for":[7,39,102,137],"fleet":[9],"of":[10,19,22,94],"unmanned":[11],"aerial":[12],"vehicles":[13],"(UAVs).":[14],"The":[15,61,105,125],"proposed":[16],"architecture":[17,126],"consists":[18],"fusion":[21],"virtual":[23,52,62],"point":[24,54],"controllers":[25],"and":[26,47,84,108,121,131],"potential":[27,35],"field":[28],"techniques.":[29],"On":[30],"the":[31,65,88,97,138],"one":[32],"hand,":[33,67],"function":[36],"is":[37,127],"constructed":[38],"every":[40],"agent":[41],"such":[42,76],"that":[43],"its":[44],"position":[45],"smoothly":[46],"robustly":[48],"converges":[49],"to":[50,70],"guidance":[53],"while":[55],"avoiding":[56],"collisions":[57],"with":[58],"other":[59,66],"agents.":[60],"points,":[63],"on":[64,118],"are":[68,111],"controlled":[69,112],"fulfill":[71],"swarm":[73],"control":[74],"goal":[75],"as":[77],"target":[78],"tracking,":[79],"station":[80],"keeping,":[81],"or":[82],"search":[83],"rescue":[85],"missions.":[86],"Therefore,":[87],"suggested":[89],"system":[90],"has":[91],"two":[92],"levels":[93],"hierarchy,":[95],"but":[96],"can":[99],"be":[100],"generalized":[101],"multiple":[103],"levels.":[104],"vehicle":[106],"translational":[107],"rotational":[109],"dynamics":[110],"using":[113],"an":[114],"internal":[115],"loop":[116],"based":[117],"gradient":[119],"tracking":[120],"sliding":[122],"mode":[123],"controllers.":[124],"validated":[128],"in":[129],"simulations":[130],"real-time":[132],"experiments,":[133],"showing":[134],"good":[135],"performance":[136],"closed-loop":[139],"system.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
