{"id":"https://openalex.org/W2555485441","doi":"https://doi.org/10.1109/tie.2016.2631514","title":"Adaptive Vision-Based Leader\u2013Follower Formation Control of Mobile Robots","display_name":"Adaptive Vision-Based Leader\u2013Follower Formation Control of Mobile Robots","publication_year":2016,"publication_date":"2016-11-23","ids":{"openalex":"https://openalex.org/W2555485441","doi":"https://doi.org/10.1109/tie.2016.2631514","mag":"2555485441"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2016.2631514","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2016.2631514","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/A5107772128","display_name":"Hesheng Wang","orcid":"https://orcid.org/0000-0002-9959-1634"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hesheng Wang","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, and the Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, and the Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033068196","display_name":"Dejun Guo","orcid":"https://orcid.org/0000-0002-5331-4228"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dejun Guo","raw_affiliation_strings":["DARC (Design, Automation, Robotics & Control) Lab, University of Utah Robotics Center, Salt Lake City, UT, USA"],"affiliations":[{"raw_affiliation_string":"DARC (Design, Automation, Robotics & Control) Lab, University of Utah Robotics Center, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063349478","display_name":"Xinwu Liang","orcid":"https://orcid.org/0000-0002-8246-6546"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinwu Liang","raw_affiliation_strings":["School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100357376","display_name":"Weidong Chen","orcid":"https://orcid.org/0000-0001-8757-0679"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weidong Chen","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, and the Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, and the Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050664552","display_name":"Guoqiang Hu","orcid":"https://orcid.org/0000-0002-8618-5581"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Guoqiang Hu","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University (NTU), Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University (NTU), Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027538794","display_name":"Kam K. Leang","orcid":"https://orcid.org/0000-0003-1189-1673"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kam K. Leang","raw_affiliation_strings":["DARC (Design, Automation, Robotics & Control) Lab, University of Utah Robotics Center, Salt Lake City, UT, USA"],"affiliations":[{"raw_affiliation_string":"DARC (Design, Automation, Robotics & Control) Lab, University of Utah Robotics Center, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5107772128"],"corresponding_institution_ids":["https://openalex.org/I183067930","https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":17.5961,"has_fulltext":false,"cited_by_count":143,"citation_normalized_percentile":{"value":0.99326901,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"64","issue":"4","first_page":"2893","last_page":"2902"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9933000206947327,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9905999898910522,"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/control-theory","display_name":"Control theory (sociology)","score":0.6669532060623169},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6441131830215454},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6301547288894653},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6221035718917847},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5573195219039917},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5398409366607666},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.493934690952301},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4927208721637726},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4663158357143402},{"id":"https://openalex.org/keywords/image-plane","display_name":"Image plane","score":0.45999276638031006},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.44122856855392456},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.43960943818092346},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.21415311098098755},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20954486727714539}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6669532060623169},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6441131830215454},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6301547288894653},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6221035718917847},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5573195219039917},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5398409366607666},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.493934690952301},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4927208721637726},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4663158357143402},{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.45999276638031006},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.44122856855392456},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.43960943818092346},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.21415311098098755},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20954486727714539},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2016.2631514","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2016.2631514","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":[{"id":"https://openalex.org/G2852335994","display_name":null,"funder_award_id":"15111104802","funder_id":"https://openalex.org/F4320321885","funder_display_name":"Science and Technology Commission of Shanghai Municipality"},{"id":"https://openalex.org/G4338631454","display_name":null,"funder_award_id":"61221003","funder_id":"https://openalex.org/F4320332587","funder_display_name":"Natural Science Foundation of Ningbo"},{"id":"https://openalex.org/G6509169266","display_name":null,"funder_award_id":"61473191","funder_id":"https://openalex.org/F4320332587","funder_display_name":"Natural Science Foundation of Ningbo"},{"id":"https://openalex.org/G7198139215","display_name":null,"funder_award_id":"61673272","funder_id":"https://openalex.org/F4320332587","funder_display_name":"Natural Science Foundation of Ningbo"},{"id":"https://openalex.org/G7544095190","display_name":null,"funder_award_id":"61503245","funder_id":"https://openalex.org/F4320332587","funder_display_name":"Natural Science Foundation of Ningbo"}],"funders":[{"id":"https://openalex.org/F4320321885","display_name":"Science and Technology Commission of Shanghai Municipality","ror":"https://ror.org/03kt66j61"},{"id":"https://openalex.org/F4320321940","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08"},{"id":"https://openalex.org/F4320327001","display_name":"State Key Laboratory of Robotics and System","ror":null},{"id":"https://openalex.org/F4320332587","display_name":"Natural Science Foundation of Ningbo","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1514444483","https://openalex.org/W1980765536","https://openalex.org/W1982483748","https://openalex.org/W1994938045","https://openalex.org/W2006501180","https://openalex.org/W2014461580","https://openalex.org/W2039154706","https://openalex.org/W2044687875","https://openalex.org/W2051196540","https://openalex.org/W2083483041","https://openalex.org/W2092122760","https://openalex.org/W2102080957","https://openalex.org/W2106129306","https://openalex.org/W2118879643","https://openalex.org/W2119959427","https://openalex.org/W2137924757","https://openalex.org/W2141584146","https://openalex.org/W2147501455","https://openalex.org/W2153757983","https://openalex.org/W2165413656","https://openalex.org/W2167501464","https://openalex.org/W2335825547","https://openalex.org/W2405050918","https://openalex.org/W2564028077"],"related_works":["https://openalex.org/W3192036299","https://openalex.org/W2146428417","https://openalex.org/W3176458675","https://openalex.org/W2561776955","https://openalex.org/W2138120972","https://openalex.org/W576983769","https://openalex.org/W2122087045","https://openalex.org/W1934622834","https://openalex.org/W2015036175","https://openalex.org/W2243517654"],"abstract_inverted_index":{"This":[0],"paper":[1],"focuses":[2],"on":[3,35,45],"the":[4,20,36,40,46,53,66,76,80,83,89,93,100,103,113,119,122],"problem":[5],"of":[6,11,79,102,112,121],"vision-based":[7],"leader-follower":[8],"formation":[9],"control":[10],"mobile":[12],"robots.":[13],"The":[14],"proposed":[15],"adaptive":[16],"controller":[17],"only":[18],"requires":[19],"image":[21,114],"information":[22],"from":[23],"an":[24],"uncalibrated":[25],"perspective":[26],"camera":[27,71,90],"mounted":[28],"at":[29],"any":[30],"position":[31,48],"and":[32,50,55,69,129],"orientation":[33],"(attitude)":[34],"follower":[37],"robot.":[38],"Furthermore,":[39],"approach":[41,123],"does":[42],"not":[43],"depend":[44],"relative":[47,87],"measurement":[49],"communication":[51],"between":[52],"leader":[54],"follower.":[56],"First,":[57],"a":[58],"new":[59],"real-time":[60],"observer":[61],"is":[62,96,108,116,124],"developed":[63],"to":[64,88,98],"estimate":[65],"unknown":[67,77],"intrinsic":[68],"extrinsic":[70],"parameters":[72],"as":[73,75],"well":[74],"coefficients":[78],"plane":[81],"where":[82,106],"feature":[84],"point":[85],"moves":[86],"frame.":[91],"Second,":[92],"Lyapunov":[94],"method":[95],"employed":[97],"prove":[99],"stability":[101],"closed-loop":[104],"system,":[105],"it":[107],"shown":[109],"that":[110],"convergence":[111],"error":[115],"guaranteed.":[117],"Finally,":[118],"performance":[120],"demonstrated":[125],"through":[126],"physical":[127],"experiments":[128],"experimental":[130],"results.":[131]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":28},{"year":2018,"cited_by_count":14},{"year":2017,"cited_by_count":15},{"year":2016,"cited_by_count":1}],"updated_date":"2026-03-08T08:50:53.379069","created_date":"2025-10-10T00:00:00"}
