{"id":"https://openalex.org/W4410204000","doi":"https://doi.org/10.1109/tcyb.2025.3565303","title":"Enhancing Collision-Free Formation Control in Multiagent Systems: An Approach Based on Time-Derivative of Artificial Potential Functions","display_name":"Enhancing Collision-Free Formation Control in Multiagent Systems: An Approach Based on Time-Derivative of Artificial Potential Functions","publication_year":2025,"publication_date":"2025-05-08","ids":{"openalex":"https://openalex.org/W4410204000","doi":"https://doi.org/10.1109/tcyb.2025.3565303","pmid":"https://pubmed.ncbi.nlm.nih.gov/40338705"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2025.3565303","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2025.3565303","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/A5040472114","display_name":"Haoran Han","orcid":"https://orcid.org/0000-0002-0728-3993"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoran Han","raw_affiliation_strings":["School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0002-0728-3993","affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039059630","display_name":"Jian Cheng","orcid":"https://orcid.org/0000-0001-6966-0531"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Cheng","raw_affiliation_strings":["School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0001-6966-0531","affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100684874","display_name":"Maolong Lv","orcid":"https://orcid.org/0000-0001-6406-2399"},"institutions":[{"id":"https://openalex.org/I4210104252","display_name":"Air Force Engineering University","ror":"https://ror.org/00seraz22","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210104252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Maolong Lv","raw_affiliation_strings":["Air Traffic Control and Navigation College, Air Force Engineering University, Xi’an, China"],"raw_orcid":"https://orcid.org/0000-0001-6406-2399","affiliations":[{"raw_affiliation_string":"Air Traffic Control and Navigation College, Air Force Engineering University, Xi’an, China","institution_ids":["https://openalex.org/I4210104252"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084993350","display_name":"Choon Ki Ahn","orcid":"https://orcid.org/0000-0003-0993-9658"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Choon Ki Ahn","raw_affiliation_strings":["School of Electrical Engineering, Korea University, Seoul, South Koera"],"raw_orcid":"https://orcid.org/0000-0003-0993-9658","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea University, Seoul, South Koera","institution_ids":["https://openalex.org/I197347611"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.6332,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.95948957,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"55","issue":"7","first_page":"3445","last_page":"3456"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9848999977111816,"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":0.9848999977111816,"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/derivative","display_name":"Derivative (finance)","score":0.6016941070556641},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5742893815040588},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.553678035736084},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44756004214286804},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.43391352891921997},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3451792001724243},{"id":"https://openalex.org/keywords/biological-system","display_name":"Biological system","score":0.3443741202354431},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07847309112548828},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.06321638822555542},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.05385288596153259}],"concepts":[{"id":"https://openalex.org/C111771559","wikidata":"https://www.wikidata.org/wiki/Q66295","display_name":"Derivative (finance)","level":2,"score":0.6016941070556641},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5742893815040588},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.553678035736084},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44756004214286804},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.43391352891921997},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3451792001724243},{"id":"https://openalex.org/C186060115","wikidata":"https://www.wikidata.org/wiki/Q30336093","display_name":"Biological system","level":1,"score":0.3443741202354431},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07847309112548828},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.06321638822555542},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.05385288596153259},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2025.3565303","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2025.3565303","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:40338705","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40338705","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":[{"score":0.6299999952316284,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G3007739053","display_name":null,"funder_award_id":"2023NSFSC0484","funder_id":"https://openalex.org/F4320329861","funder_display_name":"Natural Science Foundation of Sichuan Province"},{"id":"https://openalex.org/G3440229076","display_name":null,"funder_award_id":"62303489","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3934599601","display_name":null,"funder_award_id":"GKJJ24050502","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6087676565","display_name":null,"funder_award_id":"U2233209","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/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320329861","display_name":"Natural Science Foundation of Sichuan Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W2014678902","https://openalex.org/W2033545621","https://openalex.org/W2042733674","https://openalex.org/W2050505323","https://openalex.org/W2072694395","https://openalex.org/W2105850748","https://openalex.org/W2177274602","https://openalex.org/W2336928061","https://openalex.org/W2621968054","https://openalex.org/W2767809286","https://openalex.org/W2780134511","https://openalex.org/W2946074838","https://openalex.org/W2946194484","https://openalex.org/W3022312225","https://openalex.org/W3033144026","https://openalex.org/W3087869918","https://openalex.org/W3097679021","https://openalex.org/W3107174227","https://openalex.org/W3113080887","https://openalex.org/W3136483272","https://openalex.org/W3214909963","https://openalex.org/W4206357158","https://openalex.org/W4220859467","https://openalex.org/W4281753482","https://openalex.org/W4323644277","https://openalex.org/W4323644326","https://openalex.org/W4360993992","https://openalex.org/W4365798977","https://openalex.org/W4382568208","https://openalex.org/W4382998732","https://openalex.org/W4386432276","https://openalex.org/W4387917771","https://openalex.org/W4390576246","https://openalex.org/W4392729277","https://openalex.org/W4399404989","https://openalex.org/W4400033669","https://openalex.org/W4400526128","https://openalex.org/W4402389672","https://openalex.org/W4403421646","https://openalex.org/W4407900360","https://openalex.org/W4409076678","https://openalex.org/W6862303448"],"related_works":["https://openalex.org/W3113932901","https://openalex.org/W650625605","https://openalex.org/W2801025257","https://openalex.org/W2551285827","https://openalex.org/W1919219501","https://openalex.org/W2027504272","https://openalex.org/W2069703662","https://openalex.org/W2372181157","https://openalex.org/W2759268906","https://openalex.org/W2347750628"],"abstract_inverted_index":{"The":[0,61],"artificial":[1],"potential":[2,67],"function":[3],"(APF)":[4],"is":[5,113],"a":[6,95,108,129],"widely":[7],"applied":[8],"algorithm":[9,112],"in":[10,14,45],"collision-free":[11,42,109],"formation":[12,30,43,97,110],"control":[13,44,111],"multiagent":[15],"systems":[16],"(MASs).":[17],"However,":[18],"it":[19],"suffers":[20],"from":[21,132],"oscillations":[22,151],"and":[23,31,40,58,68,71,93,123,152,159],"acceleration":[24,153],"surges,":[25],"particularly":[26],"when":[27],"the":[28,32,50,64,72,75,88,133,138,147],"current":[29],"desired":[33],"one":[34],"conflict.":[35],"To":[36],"address":[37],"this":[38,47],"problem":[39],"enhance":[41],"MAS,":[46],"article":[48,86,116],"introduces":[49,94],"time-derivative":[51,73],"of":[52,63,74,91,119,140],"APFs.":[53,60],"This":[54,85,115],"approach":[55],"unifies":[56],"attractive":[57,158],"repulsive":[59,141,160],"gradients":[62,77,143],"APFs":[65,92],"transform":[66],"kinetic":[69],"energy,":[70],"APF":[76,142],"serve":[78],"as":[79,104,144],"damping":[80,145],"terms":[81],"to":[82],"dissipate":[83],"energy.":[84],"discusses":[87],"general":[89],"properties":[90],"time-variant":[96],"tracking":[98],"scheme":[99],"that":[100],"encompasses":[101],"existing":[102],"algorithms":[103],"specific":[105],"instances.":[106],"Then,":[107],"presented.":[114],"gives":[117],"proof":[118],"its":[120],"Lyapunov":[121],"stability":[122],"collision":[124],"avoidance":[125],"ability,":[126],"followed":[127],"by":[128,156],"maneuverability":[130],"analysis":[131],"geometry":[134],"perspective.":[135],"By":[136],"incorporating":[137],"time-derivatives":[139],"terms,":[146],"proposed":[148],"method":[149],"mitigates":[150],"surges":[154],"caused":[155],"conflicting":[157],"effects.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}