{"id":"https://openalex.org/W3157539364","doi":"https://doi.org/10.1109/tro.2021.3072026","title":"Multiagent Planning and Control for Swarm Herding in 2-D Obstacle Environments Under Bounded Inputs","display_name":"Multiagent Planning and Control for Swarm Herding in 2-D Obstacle Environments Under Bounded Inputs","publication_year":2021,"publication_date":"2021-05-03","ids":{"openalex":"https://openalex.org/W3157539364","doi":"https://doi.org/10.1109/tro.2021.3072026","mag":"3157539364"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3072026","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3072026","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/A5060842391","display_name":"Vishnu S. Chipade","orcid":"https://orcid.org/0000-0002-3330-3521"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vishnu S. Chipade","raw_affiliation_strings":["Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","[Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109 USA (e-mail: vishnuc@umich.edu).]"],"raw_orcid":"https://orcid.org/0000-0002-3330-3521","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"[Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109 USA (e-mail: vishnuc@umich.edu).]","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059647993","display_name":"Dimitra Panagou","orcid":"https://orcid.org/0000-0002-4547-167X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dimitra Panagou","raw_affiliation_strings":["Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","[Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109 USA (e-mail: dpanagou@umich.edu).]"],"raw_orcid":"https://orcid.org/0000-0002-4547-167X","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"[Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109 USA (e-mail: dpanagou@umich.edu).]","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.7721,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.96160967,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"37","issue":"6","first_page":"1956","last_page":"1972"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":1.0,"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":0.9998999834060669,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9987999796867371,"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/herding","display_name":"Herding","score":0.8704922199249268},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.7274856567382812},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6981841325759888},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6163316369056702},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5608831644058228},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5548014640808105},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5506769418716431},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5160245895385742},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4991002082824707},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.48153311014175415},{"id":"https://openalex.org/keywords/flocking","display_name":"Flocking (texture)","score":0.47437912225723267},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3960341811180115},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35777634382247925},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3200942575931549},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.31139394640922546},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22567132115364075},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17308297753334045}],"concepts":[{"id":"https://openalex.org/C177605951","wikidata":"https://www.wikidata.org/wiki/Q1484503","display_name":"Herding","level":2,"score":0.8704922199249268},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.7274856567382812},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6981841325759888},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6163316369056702},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5608831644058228},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5548014640808105},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5506769418716431},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5160245895385742},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4991002082824707},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.48153311014175415},{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.47437912225723267},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3960341811180115},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35777634382247925},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3200942575931549},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31139394640922546},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22567132115364075},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17308297753334045},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C97137747","wikidata":"https://www.wikidata.org/wiki/Q38112","display_name":"Forestry","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2021.3072026","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3072026","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6899999976158142,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320333620","display_name":"Center for Unmanned Aircraft Systems","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1502151758","https://openalex.org/W1514632510","https://openalex.org/W1979426194","https://openalex.org/W1980644536","https://openalex.org/W1981610864","https://openalex.org/W1988837728","https://openalex.org/W2004815408","https://openalex.org/W2033218743","https://openalex.org/W2054381558","https://openalex.org/W2095373992","https://openalex.org/W2114494496","https://openalex.org/W2118331730","https://openalex.org/W2128928412","https://openalex.org/W2136605942","https://openalex.org/W2141967156","https://openalex.org/W2155540178","https://openalex.org/W2325435747","https://openalex.org/W2414457428","https://openalex.org/W2423300849","https://openalex.org/W2465948386","https://openalex.org/W2492230418","https://openalex.org/W2577017106","https://openalex.org/W2735437747","https://openalex.org/W2765314434","https://openalex.org/W2766521535","https://openalex.org/W2781079832","https://openalex.org/W2783963839","https://openalex.org/W2845027230","https://openalex.org/W2884392764","https://openalex.org/W2902857859","https://openalex.org/W2915060538","https://openalex.org/W2947454433","https://openalex.org/W2972554600","https://openalex.org/W3006248364","https://openalex.org/W3012217124","https://openalex.org/W4297798637","https://openalex.org/W6630103998","https://openalex.org/W6682815447","https://openalex.org/W6780891104"],"related_works":["https://openalex.org/W2097610718","https://openalex.org/W2002188687","https://openalex.org/W2142589698","https://openalex.org/W2794811781","https://openalex.org/W1871202614","https://openalex.org/W4327740834","https://openalex.org/W4233987368","https://openalex.org/W4387113913","https://openalex.org/W1596835606","https://openalex.org/W2138105113"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,7,13,17,33,44,56,118],"method":[4],"for":[5,131],"herding":[6,105],"swarm":[8,34,115],"of":[9,23,32,35,60,70,154,160],"adversarial":[10,37,66],"agents":[11,25,38],"toward":[12,99],"safe":[14,45,101],"area":[15,46],"in":[16,49,77,168],"2-D":[18],"obstacle":[19],"environment.":[20,52],"The":[21],"team":[22],"defending":[24],"(defenders)":[26],"aims":[27],"to":[28,43,125,139,150],"block":[29],"the":[30,65,79,94,100,104,113,126,132,140,152,155,161,169],"path":[31],"risk-averse,":[36],"(attackers)":[39],"and":[40,82,98,146],"guide":[41,93],"it":[42],"while":[47],"navigating":[48],"an":[50],"obstacle-populated":[51],"To":[53],"achieve":[54],"this,":[55],"closed":[57],"formation":[58,95],"(StringNet)":[59],"defenders":[61],"is":[62,123,143,172],"formed":[63],"around":[64,96],"swarm.":[67],"A":[68],"combination":[69],"open-loop,":[71],"near":[72],"time-optimal":[73],"controllers":[74,84],"(that":[75,92],"result":[76],"forming":[78],"defenders\u2019":[80],"formation),":[81],"state-feedback":[83],"with":[85],"finite-time":[86],"convergence":[87,138],"guarantees":[88],"under":[89,117],"bounded":[90],"inputs":[91],"attackers":[97],"area)":[102],"synthesize":[103],"strategy.":[106],"For":[107],"demonstration":[108],"purpose,":[109],"we":[110],"consider":[111],"that":[112],"attacking":[114],"moves":[116],"flocking":[119],"model,":[120],"which":[121],"however":[122],"unknown":[124],"defenders.":[127],"Collision-free":[128],"trajectory":[129],"generation":[130],"defenders,":[133],"as":[134,136],"well":[135],"their":[137],"desired":[141],"formations,":[142],"proved":[144],"formally,":[145],"simulations":[147],"are":[148],"provided":[149],"demonstrate":[151],"efficacy":[153],"proposed":[156,162],"approach.":[157],"An":[158],"implementation":[159],"approach":[163],"on":[164],"quadrotor":[165],"vehicles":[166],"simulated":[167],"Gazebo":[170],"simulator":[171],"also":[173],"provided.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}