{"id":"https://openalex.org/W4415743484","doi":"https://doi.org/10.1109/tie.2025.3594438","title":"A Hierarchical Cross-Domain Formation Strategy for Heterogeneous UGV\u2013UAVs With Uncertainties","display_name":"A Hierarchical Cross-Domain Formation Strategy for Heterogeneous UGV\u2013UAVs With Uncertainties","publication_year":2025,"publication_date":"2025-10-31","ids":{"openalex":"https://openalex.org/W4415743484","doi":"https://doi.org/10.1109/tie.2025.3594438"},"language":null,"primary_location":{"id":"doi:10.1109/tie.2025.3594438","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3594438","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/A5089987508","display_name":"Qianxiong Li","orcid":"https://orcid.org/0009-0001-9521-9018"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qianxiong Li","raw_affiliation_strings":["School of Electrical Engineering and Automation, Wuhan University, Wuhan, P. R. China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Wuhan University, Wuhan, P. R. China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101787694","display_name":"Xiaoqing Lu","orcid":"https://orcid.org/0000-0002-0328-3267"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoqing Lu","raw_affiliation_strings":["School of Electrical Engineering and Automation, Wuhan University, Wuhan, P. R. China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Wuhan University, Wuhan, P. R. China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025640070","display_name":"Yaonan Wang","orcid":"https://orcid.org/0000-0002-0519-6458"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaonan Wang","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042751045","display_name":"Ye Wei","orcid":"https://orcid.org/0009-0000-8664-4285"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuehu Wei","raw_affiliation_strings":["School of Electrical Engineering and Automation, Wuhan University, Wuhan, P. R. China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Wuhan University, Wuhan, P. R. China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5089987508"],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":1.6666,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.89306644,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"73","issue":"3","first_page":"4224","last_page":"4237"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.920799970626831,"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":0.920799970626831,"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/T11133","display_name":"UAV Applications and Optimization","score":0.018799999728798866,"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":0.01549999974668026,"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":0.8288999795913696},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.734000027179718},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7279000282287598},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6028000116348267},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5570999979972839},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.5315999984741211},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4440999925136566},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4410000145435333}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8288999795913696},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.734000027179718},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7279000282287598},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6428999900817871},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6028000116348267},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5570999979972839},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.5315999984741211},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4440999925136566},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4410000145435333},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35010001063346863},{"id":"https://openalex.org/C164866538","wikidata":"https://www.wikidata.org/wiki/Q367351","display_name":"Cluster (spacecraft)","level":2,"score":0.34769999980926514},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34360000491142273},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.33719998598098755},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.31299999356269836},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.3122999966144562},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.3050999939441681},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.296099990606308},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.25839999318122864},{"id":"https://openalex.org/C2984730371","wikidata":"https://www.wikidata.org/wiki/Q6501221","display_name":"Feedback controller","level":3,"score":0.2572000026702881},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.25029999017715454}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2025.3594438","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3594438","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0,35],"heterogeneous":[1,50,62,131],"unmanned":[2,6,11,132],"cluster,":[3],"consisting":[4],"of":[5,143,146,170],"aerial":[7],"vehicles":[8,13],"(UAVs)":[9],"and":[10,27,30,38,46,85,92,128,152,160,164],"ground":[12],"(UGVs),":[14],"is":[15,105],"superior":[16],"to":[17,23,64,124,156],"homogenous":[18],"UAVs":[19,101,151],"or":[20],"UGVs":[21,91,153],"due":[22],"their":[24],"broader":[25],"vision":[26],"collaborative":[28],"endurance,":[29],"thus":[31],"attract":[32],"growing":[33],"attention.":[34],"diverse":[36],"maneuverabilities":[37],"response":[39],"speeds":[40],"have":[41],"also":[42],"brought":[43],"many":[44],"challenges":[45],"difficulties":[47],"for":[48,61,90,100,130,150],"the":[49,110,119,140,144,158,168,171],"UGV\u2013UAV":[51],"formations.":[52],"This":[53],"article":[54],"proposes":[55],"a":[56,78,93],"hierarchical":[57,73],"cross-domain":[58],"formation":[59,67,88,98,112],"strategy":[60],"UAV\u2013UGVs":[63],"realize":[65],"time-varying":[66],"trajectory":[68,79],"tracking":[69,80],"with":[70],"uncertainties.":[71],"A":[72],"distributed":[74],"control":[75],"framework,":[76],"containing":[77],"controller":[81,89,99],"in":[82,102,114],"upper":[83,141],"layer":[84],"an":[86],"attitude":[87],"sliding":[94,121],"mode":[95,122],"based":[96],"double-loop":[97],"lower":[103],"layer,":[104],"first":[106],"established.":[107],"It":[108],"integrates":[109],"heterogenous":[111],"errors":[113],"different":[115,147],"time":[116,148],"scales":[117],"into":[118],"terminal":[120],"surfaces,":[123],"facilitate":[125],"more":[126],"maneuverability":[127],"flexibility":[129],"cluster":[133],"over":[134],"uncertain":[135],"disturbance.":[136],"Sufficient":[137],"conditions":[138],"on":[139],"bound":[142],"ratio":[145],"constants":[149],"are":[154],"derived":[155],"guarantee":[157],"stability,":[159],"both":[161],"Gazebo":[162],"simulation":[163],"physical":[165],"experiment":[166],"verify":[167],"effectiveness":[169],"theoretical":[172],"results.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-31T00:00:00"}
