{"id":"https://openalex.org/W3197405529","doi":"https://doi.org/10.1109/tits.2021.3107336","title":"Learning-Based Multi-Robot Formation Control With Obstacle Avoidance","display_name":"Learning-Based Multi-Robot Formation Control With Obstacle Avoidance","publication_year":2021,"publication_date":"2021-09-01","ids":{"openalex":"https://openalex.org/W3197405529","doi":"https://doi.org/10.1109/tits.2021.3107336","mag":"3197405529"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2021.3107336","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2021.3107336","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","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/A5073181963","display_name":"Chengchao Bai","orcid":"https://orcid.org/0000-0002-0349-9869"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Chengchao Bai","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, CD, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-0349-9869","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101997595","display_name":"Yan Peng","orcid":"https://orcid.org/0000-0003-2928-8987"},"institutions":[{"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":false,"raw_author_name":"Peng Yan","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100721259","display_name":"Wei Pan","orcid":"https://orcid.org/0000-0003-1121-9879"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Wei Pan","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, CD, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-1121-9879","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101455523","display_name":"Jifeng Guo","orcid":"https://orcid.org/0000-0003-2840-9820"},"institutions":[{"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":false,"raw_author_name":"Jifeng Guo","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-2840-9820","affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.6961,"has_fulltext":false,"cited_by_count":102,"citation_normalized_percentile":{"value":0.97596674,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"23","issue":"8","first_page":"11811","last_page":"11822"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9977999925613403,"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":0.9977999925613403,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9929999709129333,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8049825429916382},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6794728636741638},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5295416116714478},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5184128284454346},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5064796209335327},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5038763880729675},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4961329400539398},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.47913476824760437},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41985654830932617},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36516591906547546},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32744377851486206},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2944706976413727},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.13621342182159424},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12652570009231567}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8049825429916382},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6794728636741638},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5295416116714478},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5184128284454346},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5064796209335327},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5038763880729675},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4961329400539398},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.47913476824760437},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41985654830932617},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36516591906547546},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32744377851486206},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2944706976413727},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.13621342182159424},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12652570009231567},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tits.2021.3107336","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2021.3107336","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:publications/15af20a8-93c8-4af1-81d5-dae6f1061efc","is_oa":false,"landing_page_url":"https://research.manchester.ac.uk/en/publications/15af20a8-93c8-4af1-81d5-dae6f1061efc","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Bai, C, Yan, P, Pan, W & Guo, J 2022, 'Learning-Based Multi-Robot Formation Control With Obstacle Avoidance', IEEE Transactions on Intelligent Transportation Systems. https://doi.org/10.1109/TITS.2021.3107336","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:tudelft.nl:uuid:38ab372c-f5bf-401e-ad19-303f0a1b1e15","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:38ab372c-f5bf-401e-ad19-303f0a1b1e15","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7400000095367432}],"awards":[{"id":"https://openalex.org/G4801621766","display_name":null,"funder_award_id":"61973101","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W436087578","https://openalex.org/W1522301498","https://openalex.org/W1625741820","https://openalex.org/W1933691875","https://openalex.org/W2035907011","https://openalex.org/W2060366829","https://openalex.org/W2062118960","https://openalex.org/W2083205586","https://openalex.org/W2145339207","https://openalex.org/W2235270116","https://openalex.org/W2296073425","https://openalex.org/W2333718310","https://openalex.org/W2346473199","https://openalex.org/W2402268235","https://openalex.org/W2418590440","https://openalex.org/W2594219313","https://openalex.org/W2604216058","https://openalex.org/W2746553466","https://openalex.org/W2765082137","https://openalex.org/W2765314434","https://openalex.org/W2780149228","https://openalex.org/W2790219143","https://openalex.org/W2887927966","https://openalex.org/W2906046465","https://openalex.org/W2909104831","https://openalex.org/W2926946761","https://openalex.org/W2951799221","https://openalex.org/W2963809389","https://openalex.org/W2963821308","https://openalex.org/W2964319688","https://openalex.org/W3123012396","https://openalex.org/W6631190155","https://openalex.org/W6685444567","https://openalex.org/W6713134421","https://openalex.org/W6753624969"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W1986528036"],"abstract_inverted_index":{"Multi-robot":[0],"formation":[1,21,39,100,162,170],"control":[2,40,151,163],"has":[3],"been":[4],"intensively":[5],"studied":[6],"in":[7,141],"recent":[8],"years.":[9],"In":[10,33,135],"practical":[11],"applications,":[12],"the":[13,20,26,56,60,67,111,123,131,166],"multi-robot":[14,37],"system\u2019s":[15],"ability":[16],"to":[17,22,69,110,130,137,168,172,181],"independently":[18,171],"change":[19],"avoid":[23,75],"collision":[24,76],"among":[25],"robots":[27,79,97,167],"or":[28],"with":[29,77,143,184],"obstacles":[30,81,186],"is":[31,47,119,127,153],"critical.":[32],"this":[34],"study,":[35],"a":[36,83,88,99,102,148],"adaptive":[38],"framework":[41,50,164],"based":[42],"on":[43],"deep":[44,84],"reinforcement":[45,89],"learning":[46,90],"proposed.":[48,154],"The":[49,63,92,115,155],"consists":[51],"of":[52,146,190],"two":[53],"layers,":[54],"namely":[55],"execution":[57,64],"layer":[58,65,94],"and":[59,74,80,106,113,177,187],"decision-making":[61,93],"layer.":[62],"enables":[66,165],"robot":[68],"approach":[70],"its":[71],"target":[72,108,117,125],"position":[73,118,126],"other":[78],"through":[82,101,174],"network":[85],"trained":[86],"by":[87],"method.":[91],"organizes":[95],"all":[96],"into":[98],"new":[103],"leader\u2013follower":[104],"configuration":[105],"provides":[107],"positions":[109],"leader":[112],"followers.":[114],"leader\u2019s":[116],"kept":[120],"unchanged,":[121],"while":[122],"follower\u2019s":[124],"changed":[128],"according":[129],"situation":[132],"it":[133],"encounters.":[134],"addition,":[136],"operate":[138],"more":[139],"effectively":[140],"environments":[142],"different":[144,182],"levels":[145],"complexity,":[147],"hybrid":[149],"switching":[150],"strategy":[152],"simulation":[156],"results":[157],"demonstrate":[158],"that":[159],"our":[160],"proposed":[161],"adjust":[169],"pass":[173],"obstacle":[175],"areas":[176],"can":[178],"be":[179],"generalized":[180],"scenarios":[183],"unknown":[185],"varying":[188],"number":[189],"robots.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":45},{"year":2024,"cited_by_count":27},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}