{"id":"https://openalex.org/W2068551280","doi":"https://doi.org/10.1109/tii.2012.2219541","title":"Distributed Control of Coordinated Path Tracking for Networked Nonholonomic Mobile Vehicles","display_name":"Distributed Control of Coordinated Path Tracking for Networked Nonholonomic Mobile Vehicles","publication_year":2012,"publication_date":"2012-09-18","ids":{"openalex":"https://openalex.org/W2068551280","doi":"https://doi.org/10.1109/tii.2012.2219541","mag":"2068551280"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2012.2219541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2012.2219541","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-00733822","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056626064","display_name":"Qin Zhang","orcid":"https://orcid.org/0000-0001-5010-9715"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]},{"id":"https://openalex.org/I92614990","display_name":"Tokyo University of Agriculture and Technology","ror":"https://ror.org/00qg0kr10","country_code":"JP","type":"education","lineage":["https://openalex.org/I92614990"]}],"countries":["CN","JP"],"is_corresponding":true,"raw_author_name":"Qin Zhang","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, Tokyo, Japan","State Key Laboratory of Digital Manufacturing, Equipment, and Technology, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I92614990"]},{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing, Equipment, and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035775898","display_name":"L. Lapierre","orcid":"https://orcid.org/0000-0002-4320-2118"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Lionel Lapierre","raw_affiliation_strings":["Department of Robotics, LIRMM, Montpellier, France"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, LIRMM, Montpellier, France","institution_ids":["https://openalex.org/I4210101743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049316498","display_name":"Xianbo Xiang","orcid":"https://orcid.org/0000-0002-6215-9864"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianbo Xiang","raw_affiliation_strings":["School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5056626064"],"corresponding_institution_ids":["https://openalex.org/I47720641","https://openalex.org/I92614990"],"apc_list":null,"apc_paid":null,"fwci":6.0281,"has_fulltext":false,"cited_by_count":158,"citation_normalized_percentile":{"value":0.9658054,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"9","issue":"1","first_page":"472","last_page":"484"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9993000030517578,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.7879108190536499},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.6747132539749146},{"id":"https://openalex.org/keywords/algebraic-graph-theory","display_name":"Algebraic graph theory","score":0.6178869009017944},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5564819574356079},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5507100224494934},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5396909713745117},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5368732810020447},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5112080574035645},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.453066885471344},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.45102566480636597},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40584903955459595},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.34675925970077515},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2902999520301819},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.21465075016021729},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14448246359825134},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1344831883907318},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0983518660068512}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7879108190536499},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.6747132539749146},{"id":"https://openalex.org/C25799778","wikidata":"https://www.wikidata.org/wiki/Q4724003","display_name":"Algebraic graph theory","level":3,"score":0.6178869009017944},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5564819574356079},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5507100224494934},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5396909713745117},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5368732810020447},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5112080574035645},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.453066885471344},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.45102566480636597},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40584903955459595},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34675925970077515},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2902999520301819},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.21465075016021729},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14448246359825134},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1344831883907318},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0983518660068512},{"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},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tii.2012.2219541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2012.2219541","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-00733822v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00733822","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Industrial Informatics, 2012, pp.1. &#x27E8;10.1109/TII.2012.2219541&#x27E9;","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-00733822v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00733822","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Industrial Informatics, 2012, pp.1. &#x27E8;10.1109/TII.2012.2219541&#x27E9;","raw_type":"Journal articles"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7200000286102295,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W32443946","https://openalex.org/W247697463","https://openalex.org/W1484721599","https://openalex.org/W1517023801","https://openalex.org/W1973564335","https://openalex.org/W1973573057","https://openalex.org/W1981066143","https://openalex.org/W1984069312","https://openalex.org/W2013582741","https://openalex.org/W2024509485","https://openalex.org/W2025421018","https://openalex.org/W2028366990","https://openalex.org/W2028922880","https://openalex.org/W2030766364","https://openalex.org/W2040900884","https://openalex.org/W2044732464","https://openalex.org/W2057556864","https://openalex.org/W2057770661","https://openalex.org/W2060959539","https://openalex.org/W2062427453","https://openalex.org/W2090167557","https://openalex.org/W2093075016","https://openalex.org/W2097092719","https://openalex.org/W2097346851","https://openalex.org/W2099397914","https://openalex.org/W2099502879","https://openalex.org/W2104348212","https://openalex.org/W2105850748","https://openalex.org/W2107396783","https://openalex.org/W2111366290","https://openalex.org/W2114871659","https://openalex.org/W2119120935","https://openalex.org/W2121156667","https://openalex.org/W2122561468","https://openalex.org/W2125298858","https://openalex.org/W2125800763","https://openalex.org/W2128928412","https://openalex.org/W2137549436","https://openalex.org/W2146890818","https://openalex.org/W2148738503","https://openalex.org/W2159826786","https://openalex.org/W2165744313","https://openalex.org/W2166952533","https://openalex.org/W2169529464","https://openalex.org/W2614210171","https://openalex.org/W2798588639","https://openalex.org/W3140283348","https://openalex.org/W4238591275","https://openalex.org/W6737565149"],"related_works":["https://openalex.org/W4244052565","https://openalex.org/W2358719579","https://openalex.org/W2385042721","https://openalex.org/W2367929022","https://openalex.org/W2802540229","https://openalex.org/W2351754530","https://openalex.org/W4252778923","https://openalex.org/W2020829486","https://openalex.org/W2016451691","https://openalex.org/W4287028639"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,83,92,97,102,106,150,164,181,184],"problem":[4],"of":[5,60,105,154,183],"coordinated":[6],"path":[7,33,88,113,151,176],"tracking":[8,34,114,152],"for":[9,87],"networked":[10,165],"nonholonomic":[11],"mobile":[12],"vehicles,":[13,94],"while":[14],"building":[15],"and":[16,35,161],"keeping":[17],"a":[18,55,61,79,128,171],"desired":[19,63,103,172],"formation.":[20],"The":[21,66,132],"control":[22,119,186],"laws":[23],"proposed":[24,185],"are":[25,100],"categorized":[26],"into":[27],"two":[28],"envelopes":[29],"by":[30,54],"integrating":[31],"individual":[32,43],"global":[36],"virtual":[37,47,64,93],"structure":[38],"approaches.":[39],"One":[40],"is":[41,68,115,125,136,146,157],"steering":[42],"vehicles":[44,48,99,162],"to":[45,71,77,91,159,170],"track":[46],"moving":[49],"along":[50],"predefined":[51],"paths,":[52],"generated":[53],"formation":[56,107,173],"reference":[57],"vehicle":[58,156],"(FRV)":[59],"time-varying":[62],"structure.":[65,108],"other":[67],"ensuring":[69],"paths":[70],"be":[72],"well":[73],"tracked":[74],"in":[75,163],"order":[76],"build":[78],"geometric":[80,112],"formation,":[81],"through":[82],"distributed":[84,133],"feedback":[85,134],"law":[86,135],"parameters":[89],"related":[90],"such":[95],"that":[96,149],"physical":[98],"on":[101],"placements":[104],"Within":[109],"this":[110],"framework,":[111],"achieved":[116],"via":[117],"nonlinear":[118],"theory,":[120],"where":[121],"an":[122],"approaching":[123],"angle":[124],"injected":[126],"as":[127],"heading":[129],"guidance":[130],"design.":[131,187],"analyzed":[137],"under":[138],"communication":[139],"constraints":[140],"using":[141],"algebraic":[142],"graph":[143],"theory.":[144],"It":[145],"formally":[147],"shown":[148],"error":[153],"each":[155],"reduced":[158],"zero,":[160],"team":[166],"globally":[167],"asymptotically":[168],"converge":[169],"with":[174],"equal":[175],"parameters.":[177],"Simulation":[178],"results":[179],"illustrate":[180],"effectiveness":[182]},"counts_by_year":[{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":17},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":14},{"year":2017,"cited_by_count":22},{"year":2016,"cited_by_count":11},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
