{"id":"https://openalex.org/W1608773992","doi":"https://doi.org/10.1109/tro.2010.2062070","title":"Decentralized Feedback Controllers for Multiagent Teams in Environments With Obstacles","display_name":"Decentralized Feedback Controllers for Multiagent Teams in Environments With Obstacles","publication_year":2010,"publication_date":"2010-09-01","ids":{"openalex":"https://openalex.org/W1608773992","doi":"https://doi.org/10.1109/tro.2010.2062070","mag":"1608773992"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2010.2062070","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2010.2062070","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5002752114","display_name":"Nora Ayanian","orcid":"https://orcid.org/0000-0002-8394-6912"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nora Ayanian","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","Dept. of Mech. Eng. & Appl. Mech., Univ. of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Dept. of Mech. Eng. & Appl. Mech., Univ. of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087021192","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3902-9391"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","Dept. of Mech. Eng. & Appl. Mech., Univ. of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Dept. of Mech. Eng. & Appl. Mech., Univ. of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5002752114"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":6.6945,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.96931244,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"26","issue":"5","first_page":"878","last_page":"887"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.9983000159263611,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6638573408126831},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6473276615142822},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6048952341079712},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.5915859341621399},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5191335082054138},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5014364719390869},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.4926190972328186},{"id":"https://openalex.org/keywords/autonomous-agent","display_name":"Autonomous agent","score":0.46709272265434265},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4013092517852783},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3736354112625122},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3544656038284302},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3485119938850403},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27805328369140625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22406473755836487}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6638573408126831},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6473276615142822},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6048952341079712},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.5915859341621399},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5191335082054138},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5014364719390869},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.4926190972328186},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.46709272265434265},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4013092517852783},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3736354112625122},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3544656038284302},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3485119938850403},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27805328369140625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22406473755836487},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2010.2062070","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2010.2062070","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.710.5194","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.710.5194","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www-bcf.usc.edu/%7Eayanian/files/Ayanian_TRO2010.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W73629738","https://openalex.org/W133715385","https://openalex.org/W1424654272","https://openalex.org/W1511213320","https://openalex.org/W1547511169","https://openalex.org/W1567230325","https://openalex.org/W1602623728","https://openalex.org/W2033595431","https://openalex.org/W2067461601","https://openalex.org/W2096108718","https://openalex.org/W2099397914","https://openalex.org/W2110144538","https://openalex.org/W2110178871","https://openalex.org/W2115558907","https://openalex.org/W2119899283","https://openalex.org/W2127816745","https://openalex.org/W2129311963","https://openalex.org/W2138793324","https://openalex.org/W2147928602","https://openalex.org/W2147970103","https://openalex.org/W2151609251","https://openalex.org/W2165744968","https://openalex.org/W2169779711","https://openalex.org/W2172806547","https://openalex.org/W2294926365","https://openalex.org/W2296319761","https://openalex.org/W2611243847","https://openalex.org/W3019365222","https://openalex.org/W3184666341","https://openalex.org/W4242073862","https://openalex.org/W4250589301","https://openalex.org/W4285719527","https://openalex.org/W6676388466","https://openalex.org/W6696866803"],"related_works":["https://openalex.org/W2020829486","https://openalex.org/W2016451691","https://openalex.org/W2343094165","https://openalex.org/W2161520603","https://openalex.org/W2612836981","https://openalex.org/W2604958989","https://openalex.org/W1969557545","https://openalex.org/W2618716983","https://openalex.org/W2032491180","https://openalex.org/W2620638075"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,10,17],"method":[3],"for":[4,9],"synthesizing":[5],"decentralized":[6],"feedback":[7],"controllers":[8,23],"team":[11,31],"of":[12],"multiple":[13],"heterogeneous":[14],"agents":[15,28,52],"navigating":[16],"known":[18],"environment":[19],"with":[20,29],"obstacles.":[21],"The":[22,45],"are":[24,61],"designed":[25],"to":[26,34,50],"drive":[27],"limited":[30],"state":[32],"information":[33],"goal":[35],"sets":[36],"while":[37],"avoiding":[38],"collisions":[39],"and":[40,56,58],"maintaining":[41],"specified":[42],"proximity":[43],"constraints.":[44],"method,":[46],"its":[47,59],"successful":[48],"application":[49],"nonholonomic":[51],"in":[53,63],"dynamic":[54],"simulation":[55],"experimentation,":[57],"limitations":[60],"presented":[62],"this":[64],"paper.":[65]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":7}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}