{"id":"https://openalex.org/W2746938269","doi":"https://doi.org/10.1109/tsmc.2017.2732679","title":"Neural-Network-Based Switching Formation Tracking Control of Multiagents With Uncertainties in Constrained Space","display_name":"Neural-Network-Based Switching Formation Tracking Control of Multiagents With Uncertainties in Constrained Space","publication_year":2017,"publication_date":"2017-08-15","ids":{"openalex":"https://openalex.org/W2746938269","doi":"https://doi.org/10.1109/tsmc.2017.2732679","mag":"2746938269"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2017.2732679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2017.2732679","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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/A5100373343","display_name":"Xiaomei Liu","orcid":"https://orcid.org/0000-0002-4918-4993"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xiaomei Liu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008501506","display_name":"Shuzhi Sam Ge","orcid":"https://orcid.org/0000-0001-5549-312X"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shuzhi Sam Ge","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-5549-312X","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009449649","display_name":"Cher-Hiang Goh","orcid":"https://orcid.org/0000-0003-1507-0856"},"institutions":[{"id":"https://openalex.org/I28490864","display_name":"DSO National Laboratories","ror":"https://ror.org/03e05fb06","country_code":"SG","type":"nonprofit","lineage":["https://openalex.org/I28490864"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Cher-Hiang Goh","raw_affiliation_strings":["DSO National Laboratories, 118230"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DSO National Laboratories, 118230","institution_ids":["https://openalex.org/I28490864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.6279,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.95440358,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"49","issue":"5","first_page":"1006","last_page":"1015"},"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":0.9984999895095825,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.998199999332428,"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/trajectory","display_name":"Trajectory","score":0.7607731819152832},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.68781578540802},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6403558254241943},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6058281660079956},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5746423602104187},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.5417438745498657},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5005900859832764},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4763886332511902},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4255499839782715},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23762327432632446},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08987399935722351}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7607731819152832},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.68781578540802},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6403558254241943},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6058281660079956},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5746423602104187},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.5417438745498657},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5005900859832764},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4763886332511902},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4255499839782715},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23762327432632446},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08987399935722351},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2017.2732679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2017.2732679","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.6000000238418579}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1223467140","https://openalex.org/W1919998456","https://openalex.org/W1964883026","https://openalex.org/W1967599450","https://openalex.org/W1973673143","https://openalex.org/W1991360560","https://openalex.org/W2013928382","https://openalex.org/W2033713891","https://openalex.org/W2040454882","https://openalex.org/W2041448245","https://openalex.org/W2042733674","https://openalex.org/W2045080121","https://openalex.org/W2046959847","https://openalex.org/W2048848526","https://openalex.org/W2051196540","https://openalex.org/W2062185449","https://openalex.org/W2068878320","https://openalex.org/W2103120971","https://openalex.org/W2107508021","https://openalex.org/W2109456623","https://openalex.org/W2120638718","https://openalex.org/W2122222357","https://openalex.org/W2131687331","https://openalex.org/W2160612266","https://openalex.org/W2245759308","https://openalex.org/W2336928061","https://openalex.org/W2339624293","https://openalex.org/W2388591084","https://openalex.org/W2437958156","https://openalex.org/W2460629480","https://openalex.org/W2528760429","https://openalex.org/W2529861978","https://openalex.org/W2763754099","https://openalex.org/W4205499924"],"related_works":["https://openalex.org/W2038604956","https://openalex.org/W2296560746","https://openalex.org/W2338222801","https://openalex.org/W2347583731","https://openalex.org/W2106602008","https://openalex.org/W2067832159","https://openalex.org/W2153353177","https://openalex.org/W3156121563","https://openalex.org/W2355389557","https://openalex.org/W2018658498"],"abstract_inverted_index":{"In":[0,61],"this":[1,62],"paper,":[2],"we":[3],"present":[4],"a":[5,112],"novel":[6],"approach":[7,116],"for":[8,18,43,107,140],"tracking":[9],"control":[10],"with":[11,71],"switching":[12,25],"formation":[13,26,78],"in":[14,35],"nonomniscient":[15],"constrained":[16],"space":[17],"multiagent":[19],"system":[20],"(MAS).":[21],"The":[22,47],"introduction":[23],"of":[24,57,85,164],"results":[27],"from":[28],"the":[29,41,55,77,81,92,103,121,131,136,149,162],"situation":[30],"where":[31],"MAS":[32],"is":[33,39,88,117,128,146,151],"maneuvering":[34],"restricted":[36],"path":[37,114,139],"which":[38],"often":[40],"case":[42],"real":[44],"world":[45],"application.":[46],"preplanned":[48],"trajectory":[49,97,134],"may":[50,65],"be":[51],"inaccurate":[52],"due":[53],"to":[54,67,79,160],"lack":[56],"sufficient":[58],"environmental":[59],"information.":[60],"case,":[63],"agents":[64],"have":[66],"rapidly":[68],"avoid":[69],"collisions":[70],"unexpected":[72],"obstacles":[73],"or":[74],"even":[75],"switch":[76],"guarantee":[80],"passability.":[82],"A":[83],"concept":[84],"avoidless":[86,100,126],"disturbance":[87,101,127],"proposed.":[89],"To":[90],"solve":[91],"undesirable":[93],"chattering":[94],"on":[95,130],"resulting":[96],"caused":[98],"by":[99,125],"and":[102,148],"existing":[104],"adaptation":[105],"algorithm":[106],"neural":[108],"network":[109],"(NN)":[110],"weights,":[111],"local":[113],"replanning":[115],"designed":[118,147],"such":[119],"that":[120],"potential":[122],"force":[123],"generated":[124],"acted":[129],"original":[132],"desired":[133],"outputting":[135],"locally":[137],"replanned":[138],"an":[141],"agent.":[142],"An":[143],"NN-based":[144],"controller":[145],"performance":[150],"validated":[152],"using":[153],"Lyapunov":[154],"functions.":[155],"Simulations":[156],"are":[157],"carried":[158],"out":[159],"illustrate":[161],"effectiveness":[163],"proposed":[165],"strategies.":[166]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":6}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}