{"id":"https://openalex.org/W4409284785","doi":"https://doi.org/10.1109/tro.2025.3559420","title":"Heterogeneous Collaborative Pursuit via Coverage Control Driven by Fokker\u2013Planck Equations","display_name":"Heterogeneous Collaborative Pursuit via Coverage Control Driven by Fokker\u2013Planck Equations","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4409284785","doi":"https://doi.org/10.1109/tro.2025.3559420"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3559420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3559420","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/A5101219891","display_name":"Ruoyu Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ruoyu Lin","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of California, Irvine, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5128-0079","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of California, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051712081","display_name":"Soobum Kim","orcid":"https://orcid.org/0000-0002-9572-3396"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Soobum Kim","raw_affiliation_strings":["School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9572-3396","affiliations":[{"raw_affiliation_string":"School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091125105","display_name":"Magnus Egerstedt","orcid":"https://orcid.org/0000-0003-4213-5299"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Magnus Egerstedt","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of California, Irvine, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4213-5299","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of California, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.9341,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.89953878,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"41","issue":null,"first_page":"3649","last_page":"3668"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12592","display_name":"Opinion Dynamics and Social Influence","score":0.9772999882698059,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12592","display_name":"Opinion Dynamics and Social Influence","score":0.9772999882698059,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9508000016212463,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9424999952316284,"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/fokker\u2013planck-equation","display_name":"Fokker\u2013Planck equation","score":0.7834732532501221},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5310022830963135},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47728148102760315},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.416811466217041},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33054250478744507},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30659717321395874},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.291715145111084},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.16875308752059937},{"id":"https://openalex.org/keywords/partial-differential-equation","display_name":"Partial differential equation","score":0.14505445957183838}],"concepts":[{"id":"https://openalex.org/C69123182","wikidata":"https://www.wikidata.org/wiki/Q891766","display_name":"Fokker\u2013Planck equation","level":3,"score":0.7834732532501221},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5310022830963135},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47728148102760315},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.416811466217041},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33054250478744507},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30659717321395874},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.291715145111084},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.16875308752059937},{"id":"https://openalex.org/C93779851","wikidata":"https://www.wikidata.org/wiki/Q271977","display_name":"Partial differential equation","level":2,"score":0.14505445957183838}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3559420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3559420","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W607200110","https://openalex.org/W1424654272","https://openalex.org/W1522727408","https://openalex.org/W1531419578","https://openalex.org/W1980569135","https://openalex.org/W1996542214","https://openalex.org/W2029174839","https://openalex.org/W2031686299","https://openalex.org/W2035465647","https://openalex.org/W2037730640","https://openalex.org/W2048475323","https://openalex.org/W2068602646","https://openalex.org/W2070927739","https://openalex.org/W2079261515","https://openalex.org/W2112164016","https://openalex.org/W2118331730","https://openalex.org/W2121672206","https://openalex.org/W2129977790","https://openalex.org/W2156799194","https://openalex.org/W2167485994","https://openalex.org/W2180047257","https://openalex.org/W2313646538","https://openalex.org/W2334090071","https://openalex.org/W2498529546","https://openalex.org/W2567355071","https://openalex.org/W2584564862","https://openalex.org/W2782792473","https://openalex.org/W2908977348","https://openalex.org/W2914003710","https://openalex.org/W2968945909","https://openalex.org/W2972765661","https://openalex.org/W3003535010","https://openalex.org/W3004061024","https://openalex.org/W3015162794","https://openalex.org/W3034300825","https://openalex.org/W3094947075","https://openalex.org/W3097287038","https://openalex.org/W3121837868","https://openalex.org/W4205369767","https://openalex.org/W4210302900","https://openalex.org/W4237997615","https://openalex.org/W4239270100","https://openalex.org/W4250716583","https://openalex.org/W4285173995","https://openalex.org/W4295855487","https://openalex.org/W4382935697","https://openalex.org/W4383108872","https://openalex.org/W4386797680","https://openalex.org/W4389665610","https://openalex.org/W4391021393","https://openalex.org/W6677710465","https://openalex.org/W6747417546","https://openalex.org/W6801872719"],"related_works":["https://openalex.org/W2992409218","https://openalex.org/W1494630543","https://openalex.org/W4388044880","https://openalex.org/W2057022985","https://openalex.org/W2035936743","https://openalex.org/W4256389389","https://openalex.org/W4320514436","https://openalex.org/W2064571445","https://openalex.org/W2316454864","https://openalex.org/W2043785977"],"abstract_inverted_index":{"Inspired":[0],"by":[1],"common":[2],"features":[3],"found":[4],"in":[5,8,64,78,83],"collaborative":[6,14],"behaviors":[7],"nature,":[9],"we":[10],"investigate":[11],"a":[12,49,84],"general":[13],"pursuit":[15],"framework":[16,69,98],"enabling":[17],"heterogeneous":[18],"multi-robot":[19,107],"systems":[20],"to":[21,23,37,61,109],"adapt":[22],"dynamic":[24,39],"environments":[25],"and":[26,42,72,87,95,120],"diverse":[27],"tasks.":[28],"A":[29],"class":[30],"of":[31,116],"augmented":[32],"Fokker-Planck":[33],"equations":[34],"is":[35,70,99],"formulated":[36],"characterize":[38],"environmental":[40,118],"conditions,":[41],"the":[43,58,97],"resulting":[44],"time-varying":[45],"density":[46],"functions":[47],"drive":[48],"novel":[50],"coverage-based":[51],"controller,":[52],"with":[53],"provable":[54],"stability":[55],"properties,":[56],"for":[57],"participating":[59],"robots":[60,77],"perform":[62],"tasks":[63],"real":[65],"time.":[66],"The":[67],"developed":[68],"decentralized":[71],"incorporates":[73],"heterogeneity":[74],"among":[75],"different":[76],"task":[79],"suitability,":[80],"relative":[81],"performance":[82],"specific":[85],"task,":[86],"safe":[88],"operating":[89],"regions.":[90],"To":[91],"demonstrate":[92],"its":[93],"adaptivity":[94],"effectiveness,":[96],"implemented":[100],"across":[101],"four":[102],"experimental":[103],"applications":[104],"ranging":[105],"from":[106],"coordination":[108],"collaboration,":[110],"namely":[111],"forest":[112],"firefighting,":[113],"pursuit-evasion,":[114],"monitoring":[115],"various":[117],"phenomena,":[119],"phoretic":[121],"interactions.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}