{"id":"https://openalex.org/W2887736113","doi":"https://doi.org/10.1109/tro.2018.2857477","title":"Agile Coordination and Assistive Collision Avoidance for Quadrotor Swarms Using Virtual Structures","display_name":"Agile Coordination and Assistive Collision Avoidance for Quadrotor Swarms Using Virtual Structures","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2887736113","doi":"https://doi.org/10.1109/tro.2018.2857477","mag":"2887736113"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2018.2857477","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2857477","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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/A5054044162","display_name":"Dingjiang Zhou","orcid":"https://orcid.org/0000-0002-7328-8389"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dingjiang Zhou","raw_affiliation_strings":["Bito Robotics, Inc., Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7328-8389","affiliations":[{"raw_affiliation_string":"Bito Robotics, Inc., Pittsburgh, PA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100371700","display_name":"Zijian Wang","orcid":"https://orcid.org/0000-0001-9402-8423"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zijian Wang","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9402-8423","affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081950488","display_name":"Mac Schwager","orcid":"https://orcid.org/0000-0002-7871-3663"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mac Schwager","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7871-3663","affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.3712,"has_fulltext":false,"cited_by_count":183,"citation_normalized_percentile":{"value":0.98643927,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"34","issue":"4","first_page":"916","last_page":"923"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8951082229614258},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7454143166542053},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.672580361366272},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5527094602584839},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.5340204834938049},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.5315518379211426},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47592976689338684},{"id":"https://openalex.org/keywords/virtual-actor","display_name":"Virtual actor","score":0.4394177198410034},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.40398263931274414},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3873865604400635},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37297993898391724},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3540652394294739},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3532715439796448},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.33631637692451477},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25885385274887085},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.223309725522995},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1843269169330597}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8951082229614258},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7454143166542053},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.672580361366272},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5527094602584839},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.5340204834938049},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.5315518379211426},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47592976689338684},{"id":"https://openalex.org/C150303390","wikidata":"https://www.wikidata.org/wiki/Q1983852","display_name":"Virtual actor","level":3,"score":0.4394177198410034},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.40398263931274414},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3873865604400635},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37297993898391724},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3540652394294739},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3532715439796448},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.33631637692451477},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25885385274887085},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.223309725522995},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1843269169330597},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2018.2857477","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2857477","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5099999904632568,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W886245132","https://openalex.org/W1481103847","https://openalex.org/W1511516950","https://openalex.org/W1517023801","https://openalex.org/W1553665348","https://openalex.org/W1963840845","https://openalex.org/W1964462572","https://openalex.org/W2015160759","https://openalex.org/W2015410655","https://openalex.org/W2028492326","https://openalex.org/W2039533720","https://openalex.org/W2044435848","https://openalex.org/W2065297540","https://openalex.org/W2066515400","https://openalex.org/W2067461601","https://openalex.org/W2071361688","https://openalex.org/W2081326455","https://openalex.org/W2098022952","https://openalex.org/W2107396783","https://openalex.org/W2109656638","https://openalex.org/W2115775310","https://openalex.org/W2142424817","https://openalex.org/W2148316751","https://openalex.org/W2150135842","https://openalex.org/W2152296855","https://openalex.org/W2159826786","https://openalex.org/W2162991084","https://openalex.org/W2165744313","https://openalex.org/W2168904841","https://openalex.org/W2171867977","https://openalex.org/W2171881432","https://openalex.org/W2187731943","https://openalex.org/W2328033575","https://openalex.org/W2401045078","https://openalex.org/W2409460556","https://openalex.org/W2544041682","https://openalex.org/W3145847800","https://openalex.org/W6623851808","https://openalex.org/W6630654773","https://openalex.org/W6674738100","https://openalex.org/W6682417862","https://openalex.org/W6686643907","https://openalex.org/W6713080196"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W2416670454","https://openalex.org/W817518365","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W3045722011","https://openalex.org/W2145960295","https://openalex.org/W2078176643"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,7,18,55,61,75,80,137,148],"method":[4,28,47,124],"for":[5,79],"controlling":[6],"swarm":[8,90,110],"of":[9,54,132,143],"quadrotors":[10,39,134,145],"to":[11,65,84,105],"perform":[12],"agile":[13],"interleaved":[14,70],"maneuvers":[15],"while":[16],"holding":[17],"fixed":[19],"relative":[20],"formation,":[21],"or":[22],"transitioning":[23],"between":[24,37],"different":[25],"formations.":[26],"The":[27,46,94],"prevents":[29],"collisions":[30],"within":[31],"the":[32,38,44,51],"swarm,":[33],"as":[34,36,60],"well":[35],"and":[40,67,72,141],"static":[41],"obstacles":[42],"in":[43,91,127],"environment.":[45],"is":[48,98,115,125],"built":[49],"upon":[50],"existing":[52],"notion":[53],"virtual":[56,95],"structure,":[57],"which":[58,64],"serves":[59],"framework":[62],"with":[63,100,130],"plan":[66],"execute":[68],"complex":[69],"trajectories,":[71],"also":[73],"gives":[74],"simple,":[76],"intuitive":[77],"interface":[78],"single":[81,138,149],"human":[82,139,150],"operator":[83],"control":[85,104],"an":[86,107],"arbitrarily":[87],"large":[88],"aerial":[89],"real":[92],"time.":[93],"structure":[96],"concept":[97],"integrated":[99,109],"differential":[101],"flatness-based":[102],"feedback":[103],"give":[106],"end-to-end":[108],"teleoperation":[111],"system.":[112],"Collision":[113],"avoidance":[114],"achieved":[116],"by":[117,136,147],"using":[118],"multiple":[119],"layered":[120],"potential":[121],"fields.":[122],"Our":[123],"demonstrated":[126],"hardware":[128],"experiments":[129],"groups":[131],"3-5":[133],"teleoperated":[135,146],"operator,":[140],"simulations":[142],"200":[144],"operator.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":34},{"year":2024,"cited_by_count":27},{"year":2023,"cited_by_count":30},{"year":2022,"cited_by_count":24},{"year":2021,"cited_by_count":25},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":21}],"updated_date":"2026-07-07T14:30:12.667765","created_date":"2025-10-10T00:00:00"}