{"id":"https://openalex.org/W4285201047","doi":"https://doi.org/10.1109/tro.2022.3183537","title":"Adaptive Multirobot Implicit Control of Heterogeneous Herds","display_name":"Adaptive Multirobot Implicit Control of Heterogeneous Herds","publication_year":2022,"publication_date":"2022-07-08","ids":{"openalex":"https://openalex.org/W4285201047","doi":"https://doi.org/10.1109/tro.2022.3183537"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3183537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3183537","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":true,"oa_status":"green","oa_url":"https://zaguan.unizar.es/record/129636/files/texto_completo.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102919228","display_name":"Eduardo Sebasti\u00e1n","orcid":"https://orcid.org/0000-0001-9671-4056"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Eduardo Sebastian","raw_affiliation_strings":["RoPeRT group, DIIS - I3A, Universidad de Zaragoza, Zaragoza, Spain"],"raw_orcid":"https://orcid.org/0000-0001-9671-4056","affiliations":[{"raw_affiliation_string":"RoPeRT group, DIIS - I3A, Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010149148","display_name":"Eduardo Montijano","orcid":"https://orcid.org/0000-0002-5176-3767"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Eduardo Montijano","raw_affiliation_strings":["RoPeRT group, DIIS - I3A, Universidad de Zaragoza, Zaragoza, Spain"],"raw_orcid":"https://orcid.org/0000-0002-5176-3767","affiliations":[{"raw_affiliation_string":"RoPeRT group, DIIS - I3A, Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052842220","display_name":"Carlos Sag\u00fc\u00e9s","orcid":"https://orcid.org/0000-0002-3032-954X"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Carlos Sagues","raw_affiliation_strings":["RoPeRT group, DIIS - I3A, Universidad de Zaragoza, Zaragoza, Spain"],"raw_orcid":"https://orcid.org/0000-0002-3032-954X","affiliations":[{"raw_affiliation_string":"RoPeRT group, DIIS - I3A, Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0307,"has_fulltext":true,"cited_by_count":22,"citation_normalized_percentile":{"value":0.87970911,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"38","issue":"6","first_page":"3622","last_page":"3635"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996999979019165,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996999979019165,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9940000176429749,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9930999875068665,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5850532054901123},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5408033132553101},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.431990385055542},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4125518798828125},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3619125485420227}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5850532054901123},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5408033132553101},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.431990385055542},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4125518798828125},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3619125485420227}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2022.3183537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3183537","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:zaguan.unizar.es:129636","is_oa":true,"landing_page_url":"http://zaguan.unizar.es/record/129636","pdf_url":"https://zaguan.unizar.es/record/129636/files/texto_completo.pdf","source":{"id":"https://openalex.org/S4306401812","display_name":"Zaguan (University of Zaragoza Repository)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I255234318","host_organization_name":"Universidad de Zaragoza","host_organization_lineage":["https://openalex.org/I255234318"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:zaguan.unizar.es:129636","is_oa":true,"landing_page_url":"http://zaguan.unizar.es/record/129636","pdf_url":"https://zaguan.unizar.es/record/129636/files/texto_completo.pdf","source":{"id":"https://openalex.org/S4306401812","display_name":"Zaguan (University of Zaragoza Repository)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I255234318","host_organization_name":"Universidad de Zaragoza","host_organization_lineage":["https://openalex.org/I255234318"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.5400000214576721,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G3578167914","display_name":null,"funder_award_id":"N62909-19-1-2027","funder_id":"https://openalex.org/F4320338298","funder_display_name":"Office of Naval Research Global"}],"funders":[{"id":"https://openalex.org/F4320338298","display_name":"Office of Naval Research Global","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4285201047.pdf","grobid_xml":"https://content.openalex.org/works/W4285201047.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W1862013120","https://openalex.org/W1911323654","https://openalex.org/W1970456084","https://openalex.org/W1983807799","https://openalex.org/W1990874732","https://openalex.org/W2014774895","https://openalex.org/W2029144026","https://openalex.org/W2049095866","https://openalex.org/W2060118620","https://openalex.org/W2067193275","https://openalex.org/W2087070363","https://openalex.org/W2128209329","https://openalex.org/W2153344006","https://openalex.org/W2157584247","https://openalex.org/W2170591991","https://openalex.org/W2172188558","https://openalex.org/W2205612522","https://openalex.org/W2289774626","https://openalex.org/W2528236727","https://openalex.org/W2535862547","https://openalex.org/W2588802774","https://openalex.org/W2595897327","https://openalex.org/W2623264272","https://openalex.org/W2736863856","https://openalex.org/W2745069496","https://openalex.org/W2765483768","https://openalex.org/W2781079832","https://openalex.org/W2810219035","https://openalex.org/W2902449143","https://openalex.org/W2904033891","https://openalex.org/W2947454433","https://openalex.org/W2963062919","https://openalex.org/W2967939811","https://openalex.org/W3003535010","https://openalex.org/W3012217124","https://openalex.org/W3032825664","https://openalex.org/W3096028041","https://openalex.org/W3104249539","https://openalex.org/W3135428035","https://openalex.org/W4213177685","https://openalex.org/W4293203252","https://openalex.org/W4309491219","https://openalex.org/W6877471577"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,16,51,143,157],"novel":[4,144],"control":[5,49,152],"strategy":[6],"to":[7,68,121,160],"herd":[8],"groups":[9],"of":[10,15,18,26,47,113,164,177],"noncooperative":[11],"evaders":[12,28],"by":[13,32],"means":[14],"team":[17],"robotic":[19],"herders.":[20],"In":[21,54],"herding":[22,71],"problems,":[23],"the":[24,27,45,75,78,95,102,109,114,134,162,173,178],"motion":[25],"is":[29,119,140],"typically":[30],"determined":[31],"<italic":[33,38,82,103],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[34,39,83,104],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">strongly":[35],"nonlinear</i>":[36],"and":[37,151,170,175],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">heterogeneous":[40],"reactive</i>":[41],"dynamics,":[42],"which":[43],"makes":[44],"development":[46],"flexible":[48],"solutions":[50],"challenging":[52],"problem.":[53],"this":[55,90],"context,":[56],"we":[57],"propose":[58],"Implicit":[59],"Control,":[60],"an":[61,123],"approach":[62],"that":[63,107,129],"leverages":[64],"numerical":[65],"analysis":[66],"theory":[67],"find":[69],"suitable":[70],"inputs":[72],"even":[73],"when":[74],"nonlinearities":[76],"in":[77,93,133],"evaders\u2019":[79],"dynamics":[80],"yield":[81],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">implicit":[84],"equations</i>":[85],".":[86],"The":[87,116],"intuition":[88],"behind":[89],"methodology":[91],"consists":[92],"driving":[94],"input,":[96],"rather":[97],"than":[98],"computing":[99],"it,":[100],"toward":[101],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">unknown</i>":[105],"value":[106],"achieves":[108],"desired":[110],"dynamic":[111],"behavior":[112],"herd.":[115],"same":[117],"idea":[118],"exploited":[120],"develop":[122],"adaptation":[124],"law,":[125],"with":[126,131,142,156],"stability":[127],"guarantees,":[128],"copes":[130],"uncertainties":[132],"herd\u2019s":[135],"models.":[136],"Moreover,":[137],"our":[138],"solution":[139],"completed":[141],"caging":[145],"technique":[146],"based":[147],"on":[148],"uncertainty":[149],"models":[150],"barrier":[153],"functions,":[154],"together":[155],"distributed":[158],"estimator":[159],"overcome":[161],"need":[163],"complete":[165],"perfect":[166],"measurements.":[167],"Different":[168],"simulations":[169],"experiments":[171],"validate":[172],"generality":[174],"flexibility":[176],"proposal.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}