{"id":"https://openalex.org/W3205697202","doi":"https://doi.org/10.1109/tcyb.2021.3119330","title":"A Multilayer Graph for Multiagent Formation and Trajectory Tracking Control Based on MPC Algorithm","display_name":"A Multilayer Graph for Multiagent Formation and Trajectory Tracking Control Based on MPC Algorithm","publication_year":2021,"publication_date":"2021-10-20","ids":{"openalex":"https://openalex.org/W3205697202","doi":"https://doi.org/10.1109/tcyb.2021.3119330","mag":"3205697202","pmid":"https://pubmed.ncbi.nlm.nih.gov/34665757"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2021.3119330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2021.3119330","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5089745466","display_name":"Zhenhua Pan","orcid":"https://orcid.org/0000-0001-7771-6013"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhenhua Pan","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057262467","display_name":"Zhongqi Sun","orcid":"https://orcid.org/0000-0002-6756-2791"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongqi Sun","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101824760","display_name":"Hongbin Deng","orcid":"https://orcid.org/0000-0002-0725-2986"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbin Deng","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100365821","display_name":"Dongfang Li","orcid":"https://orcid.org/0000-0001-9863-4172"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongfang Li","raw_affiliation_strings":["School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5089745466"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":6.5302,"has_fulltext":false,"cited_by_count":65,"citation_normalized_percentile":{"value":0.96855966,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"52","issue":"12","first_page":"13586","last_page":"13597"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.992900013923645,"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/trajectory","display_name":"Trajectory","score":0.7691586017608643},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6178475022315979},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5848335027694702},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5695433616638184},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5339547395706177},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5198079347610474},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5177030563354492},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4353833496570587},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3370441198348999},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.302651047706604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20526495575904846},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13969412446022034},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.11062753200531006},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10998931527137756}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7691586017608643},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6178475022315979},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5848335027694702},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5695433616638184},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5339547395706177},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5198079347610474},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5177030563354492},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4353833496570587},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3370441198348999},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.302651047706604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20526495575904846},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13969412446022034},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.11062753200531006},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10998931527137756},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2021.3119330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2021.3119330","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:34665757","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34665757","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7162007557","display_name":null,"funder_award_id":"61720106010","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1488409124","https://openalex.org/W1980755499","https://openalex.org/W2008369823","https://openalex.org/W2014556603","https://openalex.org/W2028235243","https://openalex.org/W2040454882","https://openalex.org/W2042733674","https://openalex.org/W2099252494","https://openalex.org/W2099441085","https://openalex.org/W2105850748","https://openalex.org/W2107396783","https://openalex.org/W2114456912","https://openalex.org/W2275787575","https://openalex.org/W2336928061","https://openalex.org/W2344138660","https://openalex.org/W2472069939","https://openalex.org/W2474873663","https://openalex.org/W2537300304","https://openalex.org/W2621968054","https://openalex.org/W2750697947","https://openalex.org/W2779863693","https://openalex.org/W2780814805","https://openalex.org/W2789630537","https://openalex.org/W2792751328","https://openalex.org/W2796974626","https://openalex.org/W2898142224","https://openalex.org/W2921881515","https://openalex.org/W2926397355","https://openalex.org/W2933899040","https://openalex.org/W2947612257","https://openalex.org/W3006129553","https://openalex.org/W3010123037","https://openalex.org/W3016736886","https://openalex.org/W4238591275","https://openalex.org/W6750058319"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2101188133","https://openalex.org/W2897743049","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"This":[0],"article":[1],"studies":[2,127],"the":[3,19,26,31,40,56,61,64,83,92,96,102,108,111,135,138,143],"formation":[4,35,49,58,65,103,114,144],"and":[5,52,73,99,116,132,145],"trajectory":[6,117,146],"tracking":[7,87,118,147],"control":[8,36,77,104],"of":[9,25,63,113,137],"multiagent":[10,20],"systems.":[11],"We":[12],"present":[13],"a":[14,34,70,74,88,120],"novel":[15],"multilayer":[16,32],"graph":[17],"for":[18,46,86],"system":[21],"to":[22,82],"enable":[23],"extensibility":[24],"interaction":[27],"network.":[28],"Based":[29],"on":[30],"graph,":[33],"law":[37],"by":[38],"using":[39],"potential":[41],"function":[42],"approach":[43],"is":[44,59,67,80],"developed":[45],"autonomous":[47],"formation,":[48],"maintenance,":[50],"collision,":[51],"obstacle":[53],"avoidance.":[54],"When":[55],"desired":[57,97],"achieved,":[60],"barycentric":[62],"shape":[66],"viewed":[68],"as":[69],"virtual":[71,84],"leader,":[72],"model":[75],"predictive":[76],"(MPC)":[78],"scheme":[79],"applied":[81],"leader":[85],"reference":[89],"trajectory;":[90],"meanwhile,":[91],"agents":[93],"will":[94],"maintain":[95],"angles":[98],"distances":[100],"via":[101],"law.":[105],"By":[106],"applying":[107],"proposed":[109,139],"schemes,":[110],"tasks":[112],"maintenance":[115],"in":[119,141],"constrained":[121],"space":[122],"are":[123],"fulfilled.":[124],"Comprehensive":[125],"simulation":[126],"under":[128],"different":[129],"environmental":[130],"constraints":[131],"trajectories":[133],"confirm":[134],"effectiveness":[136],"approaches":[140],"addressing":[142],"problems.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":9}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}