{"id":"https://openalex.org/W4393252707","doi":"https://doi.org/10.1109/tiv.2024.3382104","title":"Bearing-Only Formation Maneuvering for UAV Swarm Over Directed Interaction Topologies","display_name":"Bearing-Only Formation Maneuvering for UAV Swarm Over Directed Interaction Topologies","publication_year":2024,"publication_date":"2024-03-28","ids":{"openalex":"https://openalex.org/W4393252707","doi":"https://doi.org/10.1109/tiv.2024.3382104"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2024.3382104","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3382104","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","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/A5101852582","display_name":"Qiong Lin","orcid":"https://orcid.org/0000-0002-6055-1619"},"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":true,"raw_author_name":"Qiong Lin","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":"middle","author":{"id":"https://openalex.org/A5013336609","display_name":"Zhiqiang Miao","orcid":"https://orcid.org/0000-0002-0899-1537"},"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":"Zhiqiang Miao","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":"middle","author":{"id":"https://openalex.org/A5053348275","display_name":"Yanjie Chen","orcid":"https://orcid.org/0000-0001-9750-9177"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjie Chen","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China","School of Mechanical Engineering and Automation, Fuzhou University, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Fuzhou University, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101985392","display_name":"Xiangke Wang","orcid":"https://orcid.org/0000-0002-5074-7052"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangke Wang","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022113595","display_name":"Wei He","orcid":"https://orcid.org/0000-0002-8944-9861"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei He","raw_affiliation_strings":["School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"last","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"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101852582"],"corresponding_institution_ids":["https://openalex.org/I16609230"],"apc_list":null,"apc_paid":null,"fwci":6.0491,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.95361719,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"10","issue":"4","first_page":"2653","last_page":"2664"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9962999820709229,"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"}},"topics":[{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9962999820709229,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9943000078201294,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9861999750137329,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.7911587953567505},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.7475957870483398},{"id":"https://openalex.org/keywords/bearing","display_name":"Bearing (navigation)","score":0.6673176884651184},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4701927900314331},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.46817582845687866},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2457987666130066},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.23979294300079346},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23196673393249512},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.2213808000087738}],"concepts":[{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.7911587953567505},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.7475957870483398},{"id":"https://openalex.org/C199978012","wikidata":"https://www.wikidata.org/wiki/Q1273815","display_name":"Bearing (navigation)","level":2,"score":0.6673176884651184},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4701927900314331},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.46817582845687866},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2457987666130066},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.23979294300079346},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23196673393249512},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.2213808000087738}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2024.3382104","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3382104","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4399999976158142,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G1772707023","display_name":null,"funder_award_id":"62273098","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4266947506","display_name":null,"funder_award_id":"62273138","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7493082852","display_name":null,"funder_award_id":"62225304","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1495971413","https://openalex.org/W1635192251","https://openalex.org/W2026661126","https://openalex.org/W2064008010","https://openalex.org/W2308726208","https://openalex.org/W2328033575","https://openalex.org/W2501114959","https://openalex.org/W2752788681","https://openalex.org/W2755133879","https://openalex.org/W2759849592","https://openalex.org/W2781709698","https://openalex.org/W2796974626","https://openalex.org/W2801569556","https://openalex.org/W2910210236","https://openalex.org/W2910708060","https://openalex.org/W2912967678","https://openalex.org/W2945604450","https://openalex.org/W3003662786","https://openalex.org/W3010730012","https://openalex.org/W3013793781","https://openalex.org/W3034502743","https://openalex.org/W3072229048","https://openalex.org/W3134697742","https://openalex.org/W3146071266","https://openalex.org/W3167004959","https://openalex.org/W3189025665","https://openalex.org/W3217596000","https://openalex.org/W4225919356","https://openalex.org/W4226157549","https://openalex.org/W4226546914","https://openalex.org/W4285138909","https://openalex.org/W4319866604","https://openalex.org/W4323644157","https://openalex.org/W4364322385","https://openalex.org/W4367016573","https://openalex.org/W4384522495","https://openalex.org/W4385065378","https://openalex.org/W4387987078"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W4288714711","https://openalex.org/W3200708550","https://openalex.org/W2736680465","https://openalex.org/W2771637876","https://openalex.org/W4294093918","https://openalex.org/W4240853094","https://openalex.org/W2810496283","https://openalex.org/W2170656329","https://openalex.org/W3131977017"],"abstract_inverted_index":{"This":[0,64],"research":[1],"paper":[2],"addresses":[3],"the":[4,22,41,62,94,101,114,127,132,139,148,155,172,176],"formation":[5,36,56],"control":[6,57,129],"problem":[7],"in":[8,100],"a":[9,53,104,121],"swarm":[10],"of":[11,25,67,96,116,131,138,154,158,175],"quadrotor":[12],"unmanned":[13],"aerial":[14],"vehicles":[15],"(UAVs)":[16],"over":[17],"directed":[18,161],"interaction":[19],"topologies,":[20],"with":[21],"primary":[23],"objective":[24],"achieving":[26],"persistent":[27],"motion":[28],"based":[29],"on":[30],"bearing":[31,78,97],"measurements.":[32],"A":[33],"novel":[34],"bearing-only":[35],"controller":[37,71,87],"is":[38,59,106,123,163],"proposed,":[39],"eliminating":[40],"need":[42],"for":[43,61,73,88,113,147],"relative":[44],"position":[45],"or":[46],"linear":[47,117],"velocity":[48,118,142],"measurements":[49],"between":[50],"quadrotors.":[51,63],"Specifically,":[52],"distributed":[54],"hierarchical":[55],"scheme":[58,65],"adopted":[60],"consists":[66],"an":[68,84],"outer-loop":[69],"translation":[70],"designed":[72],"target":[74],"formations":[75],"using":[76,165],"only":[77],"vector":[79],"measurements,":[80],"as":[81,83],"well":[82],"inner-loop":[85],"attitude":[86,90],"precise":[89],"adjustments.":[91],"To":[92],"overcome":[93],"absence":[95],"rate":[98],"measurement":[99],"translational":[102,133],"controller,":[103],"filter":[105],"introduced":[107],"to":[108,125],"estimate":[109,126],"it,":[110],"effectively":[111],"compensating":[112],"lack":[115],"measurement.":[119],"Additionally,":[120],"differentiator":[122],"employed":[124],"high-order":[128],"input":[130],"dynamics,":[134],"enabling":[135],"convenient":[136],"derivation":[137],"desired":[140],"angular":[141],"and":[143],"its":[144,183],"derivatives":[145],"required":[146],"torque":[149],"controller.":[150],"The":[151],"stability":[152,167],"analysis":[153],"underactuated":[156],"systems":[157],"multi-UAVs":[159],"under":[160],"graphs":[162],"conducted":[164],"Lyapunov":[166],"theory.":[168],"Simulation":[169],"results":[170],"demonstrate":[171],"convergence":[173],"properties":[174],"proposed":[177],"protocols,":[178],"while":[179],"real-world":[180],"tasks":[181],"validate":[182],"practicality.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}