{"id":"https://openalex.org/W2951171829","doi":"https://doi.org/10.1109/tsmc.2019.2911975","title":"Distributed Formation Control of Nonholonomic Wheeled Mobile Robots Subject to Longitudinal Slippage Constraints","display_name":"Distributed Formation Control of Nonholonomic Wheeled Mobile Robots Subject to Longitudinal Slippage Constraints","publication_year":2019,"publication_date":"2019-06-11","ids":{"openalex":"https://openalex.org/W2951171829","doi":"https://doi.org/10.1109/tsmc.2019.2911975","mag":"2951171829"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2019.2911975","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2019.2911975","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":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10072/407805","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040673729","display_name":"Zhuping Wang","orcid":"https://orcid.org/0000-0002-0334-4082"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhuping Wang","raw_affiliation_strings":["Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100759350","display_name":"Lei Wang","orcid":"https://orcid.org/0000-0003-0532-2546"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Wang","raw_affiliation_strings":["Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100396911","display_name":"Hao Zhang","orcid":"https://orcid.org/0000-0002-4527-9610"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Zhang","raw_affiliation_strings":["Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026394883","display_name":"Ljubo Vlacic","orcid":"https://orcid.org/0000-0002-0775-7992"},"institutions":[{"id":"https://openalex.org/I11701301","display_name":"Griffith University","ror":"https://ror.org/02sc3r913","country_code":"AU","type":"education","lineage":["https://openalex.org/I11701301"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ljubo Vlacic","raw_affiliation_strings":["School of Engineering, Griffith University (Gold Coast Campus), Gold Coast, QLD, Australia"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Griffith University (Gold Coast Campus), Gold Coast, QLD, Australia","institution_ids":["https://openalex.org/I11701301"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073789459","display_name":"Qijun Chen","orcid":"https://orcid.org/0000-0001-5644-1188"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qijun Chen","raw_affiliation_strings":["Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5040673729"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":3.1573,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.92394283,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"51","issue":"5","first_page":"2992","last_page":"3003"},"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/T10246","display_name":"Mobile Ad Hoc Networks","score":0.9979000091552734,"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/T11896","display_name":"Opportunistic and Delay-Tolerant Networks","score":0.9939000010490417,"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/slippage","display_name":"Slippage","score":0.780186116695404},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.7511355876922607},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6989805698394775},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6450080871582031},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.603075385093689},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5831421613693237},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5751306414604187},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5612793564796448},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4347500205039978},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41449400782585144},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30035725235939026},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23788943886756897},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15426358580589294}],"concepts":[{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.780186116695404},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.7511355876922607},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6989805698394775},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6450080871582031},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.603075385093689},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5831421613693237},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5751306414604187},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5612793564796448},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4347500205039978},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41449400782585144},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30035725235939026},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23788943886756897},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15426358580589294},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tsmc.2019.2911975","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2019.2911975","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"},{"id":"pmh:oai:research-repository.griffith.edu.au:10072/407805","is_oa":true,"landing_page_url":"http://hdl.handle.net/10072/407805","pdf_url":null,"source":{"id":"https://openalex.org/S4306402548","display_name":"Griffith Research Online (Griffith University, Queensland, Australia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I11701301","host_organization_name":"Griffith University","host_organization_lineage":["https://openalex.org/I11701301"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal article"}],"best_oa_location":{"id":"pmh:oai:research-repository.griffith.edu.au:10072/407805","is_oa":true,"landing_page_url":"http://hdl.handle.net/10072/407805","pdf_url":null,"source":{"id":"https://openalex.org/S4306402548","display_name":"Griffith Research Online (Griffith University, Queensland, Australia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I11701301","host_organization_name":"Griffith University","host_organization_lineage":["https://openalex.org/I11701301"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3009756622","display_name":null,"funder_award_id":"17ZR1444700","funder_id":"https://openalex.org/F4320309612","funder_display_name":"Natural Science Foundation of Shanghai"},{"id":"https://openalex.org/G3396612727","display_name":null,"funder_award_id":"18510711100","funder_id":"https://openalex.org/F4320326149","funder_display_name":"Shanghai International Science and Technology"},{"id":"https://openalex.org/G5565712806","display_name":null,"funder_award_id":"61733013","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6055425815","display_name":null,"funder_award_id":"61773289","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7116811465","display_name":null,"funder_award_id":"17ZR1445800","funder_id":"https://openalex.org/F4320309612","funder_display_name":"Natural Science Foundation of Shanghai"},{"id":"https://openalex.org/G8682232932","display_name":null,"funder_award_id":"19ZR1461400","funder_id":"https://openalex.org/F4320309612","funder_display_name":"Natural Science Foundation of Shanghai"}],"funders":[{"id":"https://openalex.org/F4320309612","display_name":"Natural Science Foundation of Shanghai","ror":null},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326149","display_name":"Shanghai International Science and Technology","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1890265107","https://openalex.org/W1975878981","https://openalex.org/W1997200932","https://openalex.org/W2030800754","https://openalex.org/W2034828656","https://openalex.org/W2035945038","https://openalex.org/W2053114416","https://openalex.org/W2058655329","https://openalex.org/W2074030251","https://openalex.org/W2078002809","https://openalex.org/W2119120935","https://openalex.org/W2157614425","https://openalex.org/W2240890113","https://openalex.org/W2274304191","https://openalex.org/W2278307206","https://openalex.org/W2333718310","https://openalex.org/W2460354163","https://openalex.org/W2504196352","https://openalex.org/W2581034300","https://openalex.org/W2744805186","https://openalex.org/W2769390742","https://openalex.org/W2780033408","https://openalex.org/W2790671014","https://openalex.org/W2883071866","https://openalex.org/W2892173234","https://openalex.org/W2892317783","https://openalex.org/W2893053710","https://openalex.org/W2936244770","https://openalex.org/W3094615062","https://openalex.org/W3099340829","https://openalex.org/W6643998574"],"related_works":["https://openalex.org/W3000336260","https://openalex.org/W3118845583","https://openalex.org/W2061621042","https://openalex.org/W2032786669","https://openalex.org/W4384828212","https://openalex.org/W2115112145","https://openalex.org/W2586109849","https://openalex.org/W2908229428","https://openalex.org/W2589929471","https://openalex.org/W2377701914"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"the":[3,21,27,31,47,58,74,81,87,127,136,140,144,147],"distributed":[4,114,121],"formation":[5,18,111,115,132],"control":[6],"problem":[7],"of":[8,20,50,60,90,146],"multiple":[9],"nonholonomic":[10],"wheeled":[11],"mobile":[12],"robots":[13],"within":[14],"real":[15,88],"environments.":[16],"The":[17],"pattern":[19],"system":[22,33],"adopts":[23],"leader-follower":[24],"structure":[25],"and":[26,85,134],"communication":[28],"topology":[29],"among":[30],"multirobot":[32],"is":[34,41,70,98,124,150],"modeled":[35],"by":[36,152],"a":[37,109],"directed":[38],"graph.":[39],"Slippage":[40],"hard":[42],"to":[43,46,104],"avoid":[44],"due":[45],"possible":[48],"existence":[49],"ice,":[51],"sand,":[52],"or":[53],"muddy":[54],"roads.":[55],"To":[56],"overcome":[57,135],"effect":[59],"slippage,":[61],"an":[62],"adaptive":[63],"trajectory":[64,84],"tracking":[65],"controller":[66],"for":[67,100],"leader":[68,75],"robot":[69,76,103],"designed,":[71],"such":[72],"that":[73,126],"can":[77,130],"keep":[78],"up":[79],"with":[80],"virtual":[82],"reference":[83],"estimate":[86],"value":[89],"unknown":[91],"slipping":[92],"ratio":[93],"accurately.":[94],"In":[95],"addition,":[96],"it":[97],"difficult":[99],"each":[101],"follower":[102],"obtain":[105],"leader's":[106],"states":[107],"in":[108],"large":[110],"system,":[112],"so":[113],"controllers":[116,129,149],"are":[117],"designed":[118],"based":[119],"on":[120],"observers.":[122],"It":[123],"shown":[125],"proposed":[128,148],"realize":[131],"objective":[133],"slippage":[137],"constraints":[138],"at":[139],"same":[141],"time.":[142],"Finally,":[143],"effectiveness":[145],"verified":[151],"simulation":[153],"results.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-15T08:11:43.952461","created_date":"2025-10-10T00:00:00"}
