{"id":"https://openalex.org/W2520079139","doi":"https://doi.org/10.1109/tie.2016.2606585","title":"Distance-Based Cycle-Free Persistent Formation: Global Convergence and Experimental Test With a Group of Quadcopters","display_name":"Distance-Based Cycle-Free Persistent Formation: Global Convergence and Experimental Test With a Group of Quadcopters","publication_year":2016,"publication_date":"2016-09-13","ids":{"openalex":"https://openalex.org/W2520079139","doi":"https://doi.org/10.1109/tie.2016.2606585","mag":"2520079139"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2016.2606585","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2016.2606585","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5028429420","display_name":"Sung-Mo Kang","orcid":null},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Sung-Mo Kang","raw_affiliation_strings":["School of Mechanical Engineering, Gwangju Institute of Science and Technology, Gwangju, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Gwangju Institute of Science and Technology, Gwangju, South Korea","institution_ids":["https://openalex.org/I39534123"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011955979","display_name":"Myoung\u2010Chul Park","orcid":"https://orcid.org/0000-0002-9725-2719"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Myoung-Chul Park","raw_affiliation_strings":["School of Mechanical Engineering, Gwangju Institute of Science and Technology, Gwangju, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Gwangju Institute of Science and Technology, Gwangju, South Korea","institution_ids":["https://openalex.org/I39534123"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003982643","display_name":"Hyo\u2010Sung Ahn","orcid":"https://orcid.org/0000-0002-7939-0093"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyo-Sung Ahn","raw_affiliation_strings":["School of Mechanical Engineering, Gwangju Institute of Science and Technology, Gwangju, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Gwangju Institute of Science and Technology, Gwangju, South Korea","institution_ids":["https://openalex.org/I39534123"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5028429420"],"corresponding_institution_ids":["https://openalex.org/I39534123"],"apc_list":null,"apc_paid":null,"fwci":4.9221,"has_fulltext":false,"cited_by_count":59,"citation_normalized_percentile":{"value":0.95450937,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"64","issue":"1","first_page":"380","last_page":"389"},"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/T10482","display_name":"Mathematical and Theoretical Epidemiology and Ecology Models","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9891999959945679,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.8093650341033936},{"id":"https://openalex.org/keywords/reference-frame","display_name":"Reference frame","score":0.6289241313934326},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.6150697469711304},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6048165559768677},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.532921552658081},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.48664817214012146},{"id":"https://openalex.org/keywords/group","display_name":"Group (periodic table)","score":0.4840221107006073},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4782258868217468},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.44455772638320923},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.382683128118515},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11832067370414734},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.06604200601577759},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06361722946166992}],"concepts":[{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.8093650341033936},{"id":"https://openalex.org/C172849965","wikidata":"https://www.wikidata.org/wiki/Q3148875","display_name":"Reference frame","level":3,"score":0.6289241313934326},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.6150697469711304},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6048165559768677},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.532921552658081},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.48664817214012146},{"id":"https://openalex.org/C2781311116","wikidata":"https://www.wikidata.org/wiki/Q83306","display_name":"Group (periodic table)","level":2,"score":0.4840221107006073},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4782258868217468},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.44455772638320923},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.382683128118515},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11832067370414734},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.06604200601577759},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06361722946166992},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2016.2606585","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2016.2606585","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321317","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1491473649","https://openalex.org/W1564768010","https://openalex.org/W1579504682","https://openalex.org/W1590235109","https://openalex.org/W1903433060","https://openalex.org/W1912829551","https://openalex.org/W1965940578","https://openalex.org/W1981826826","https://openalex.org/W1987870286","https://openalex.org/W2000631868","https://openalex.org/W2016411453","https://openalex.org/W2046843699","https://openalex.org/W2048848526","https://openalex.org/W2049383841","https://openalex.org/W2053741158","https://openalex.org/W2074823003","https://openalex.org/W2077957747","https://openalex.org/W2099094037","https://openalex.org/W2107396783","https://openalex.org/W2108327283","https://openalex.org/W2112179646","https://openalex.org/W2112606585","https://openalex.org/W2112618878","https://openalex.org/W2124838681","https://openalex.org/W2131200679","https://openalex.org/W2138296912","https://openalex.org/W2147501455","https://openalex.org/W2158820400","https://openalex.org/W2160040544","https://openalex.org/W2248946215","https://openalex.org/W6634755432"],"related_works":["https://openalex.org/W2353179089","https://openalex.org/W2923538289","https://openalex.org/W2353125546","https://openalex.org/W2470643824","https://openalex.org/W4400595174","https://openalex.org/W2349635380","https://openalex.org/W4353089801","https://openalex.org/W2353819554","https://openalex.org/W2359488321","https://openalex.org/W2389866386"],"abstract_inverted_index":{"In":[0,118],"this":[1],"paper,":[2],"distributed":[3],"formation":[4,24],"control":[5,13,75],"for":[6],"multi-agent":[7],"systems":[8],"is":[9,30,79,86,108],"considered.":[10],"The":[11,93],"proposed":[12],"laws":[14],"are":[15,39,100,127],"designed":[16],"to":[17,68,110],"globally":[18],"obtain":[19],"and":[20,45,82,95,103,123,130],"keep":[21],"the":[22,33,37,51,58,69,74,77,83,89,98,104,112,115,120],"desired":[23],"in":[25],"a":[26],"two-dimensional":[27],"space.":[28],"It":[29],"assumed":[31],"that":[32],"local":[34,70],"frames":[35],"of":[36,53,64,76,97,114],"agents":[38],"not":[40,49],"aligned":[41],"with":[42,66],"each":[43,46],"other":[44],"agent":[47,59],"does":[48],"know":[50],"orientation":[52],"others'":[54],"coordinate":[55],"frames.":[56],"Further,":[57],"measures":[60],"only":[61],"relative":[62],"positions":[63],"neighbors":[65],"respect":[67],"reference":[71,91],"frame.":[72,92],"Therefore,":[73],"system":[78,99],"completely":[80],"decentralized":[81],"global":[84,90],"convergence":[85,96],"achieved":[87],"without":[88],"stability":[94],"analyzed":[101],"mathematically":[102],"experiment":[105],"using":[106],"quadcopters":[107],"performed":[109],"verify":[111],"results":[113],"theoretical":[116],"analysis.":[117],"addition,":[119],"ambiguity":[121],"problem":[122],"time-varying":[124],"velocity":[125],"case":[126],"also":[128],"handled":[129],"discussed.":[131]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
