{"id":"https://openalex.org/W4360993992","doi":"https://doi.org/10.1109/tsmc.2023.3257024","title":"Collision-Risk-Based Event-Triggered Optimal Formation Control for Mobile Multiagent Systems Under Incomplete Information Conditions","display_name":"Collision-Risk-Based Event-Triggered Optimal Formation Control for Mobile Multiagent Systems Under Incomplete Information Conditions","publication_year":2023,"publication_date":"2023-03-27","ids":{"openalex":"https://openalex.org/W4360993992","doi":"https://doi.org/10.1109/tsmc.2023.3257024"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2023.3257024","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3257024","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/A5022094955","display_name":"Hao Su","orcid":"https://orcid.org/0000-0003-0310-3489"},"institutions":[{"id":"https://openalex.org/I59028903","display_name":"Ocean University of China","ror":"https://ror.org/04rdtx186","country_code":"CN","type":"education","lineage":["https://openalex.org/I59028903"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Su","raw_affiliation_strings":["College of Computer Science and Technology, Ocean University of China, Qingdao, China"],"raw_orcid":"https://orcid.org/0000-0003-0310-3489","affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Ocean University of China, Qingdao, China","institution_ids":["https://openalex.org/I59028903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101629598","display_name":"Bao\u2013Lin Zhang","orcid":"https://orcid.org/0000-0002-0129-5010"},"institutions":[{"id":"https://openalex.org/I143413998","display_name":"Qingdao University of Science and Technology","ror":"https://ror.org/041j8js14","country_code":"CN","type":"education","lineage":["https://openalex.org/I143413998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bao-Lin Zhang","raw_affiliation_strings":["College of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao, China"],"raw_orcid":"https://orcid.org/0000-0002-0129-5010","affiliations":[{"raw_affiliation_string":"College of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao, China","institution_ids":["https://openalex.org/I143413998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057655617","display_name":"Jin Zhou","orcid":"https://orcid.org/0000-0003-2447-3606"},"institutions":[{"id":"https://openalex.org/I34949971","display_name":"University of Jinan","ror":"https://ror.org/02mjz6f26","country_code":"CN","type":"education","lineage":["https://openalex.org/I34949971"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Zhou","raw_affiliation_strings":["Shandong Provincial Key Laboratory of Network Based Intelligent Computing, University of Jinan, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0003-2447-3606","affiliations":[{"raw_affiliation_string":"Shandong Provincial Key Laboratory of Network Based Intelligent Computing, University of Jinan, Jinan, China","institution_ids":["https://openalex.org/I34949971"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100763213","display_name":"Jian Xue","orcid":"https://orcid.org/0000-0002-9460-802X"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Xue","raw_affiliation_strings":["School of Engineering Science, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9460-802X","affiliations":[{"raw_affiliation_string":"School of Engineering Science, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011899531","display_name":"Yuanshi Zheng","orcid":"https://orcid.org/0000-0002-1143-2509"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanshi Zheng","raw_affiliation_strings":["School of Mechano-Electronic Engineering, Xidian University, Xi&#x2019;an, China"],"raw_orcid":"https://orcid.org/0000-0002-1143-2509","affiliations":[{"raw_affiliation_string":"School of Mechano-Electronic Engineering, Xidian University, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065418197","display_name":"Hui Ma","orcid":"https://orcid.org/0000-0003-1188-9303"},"institutions":[{"id":"https://openalex.org/I59028903","display_name":"Ocean University of China","ror":"https://ror.org/04rdtx186","country_code":"CN","type":"education","lineage":["https://openalex.org/I59028903"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Ma","raw_affiliation_strings":["College of Computer Science and Technology, Ocean University of China, Qingdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Ocean University of China, Qingdao, China","institution_ids":["https://openalex.org/I59028903"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.3339,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.92631733,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"53","issue":"8","first_page":"4888","last_page":"4898"},"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/T11133","display_name":"UAV Applications and Optimization","score":0.9865000247955322,"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/T10246","display_name":"Mobile Ad Hoc Networks","score":0.980400025844574,"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/collision","display_name":"Collision","score":0.8609362840652466},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6577945947647095},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5845778584480286},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.5365204215049744},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4970734417438507},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.45960476994514465},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4438285231590271},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43623054027557373},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41885894536972046},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40083229541778564},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.13178080320358276},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10147851705551147}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.8609362840652466},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6577945947647095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5845778584480286},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.5365204215049744},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4970734417438507},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.45960476994514465},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4438285231590271},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43623054027557373},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41885894536972046},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40083229541778564},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.13178080320358276},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10147851705551147},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2023.3257024","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3257024","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":"Peace, Justice and strong institutions","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G2150646639","display_name":null,"funder_award_id":"2018AAA0100804","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G3901612683","display_name":null,"funder_award_id":"62273164","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4771265878","display_name":null,"funder_award_id":"2022JC-46","funder_id":"https://openalex.org/F4320336567","funder_display_name":"Natural Science Basic Research Program of Shaanxi Province"},{"id":"https://openalex.org/G5939760154","display_name":null,"funder_award_id":"ZR2019MF040","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G6970935689","display_name":null,"funder_award_id":"62273267","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320336567","display_name":"Natural Science Basic Research Program of Shaanxi Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W2333718310","https://openalex.org/W2463523319","https://openalex.org/W2611346233","https://openalex.org/W2768779900","https://openalex.org/W2792348930","https://openalex.org/W2887336435","https://openalex.org/W2899255886","https://openalex.org/W2936244770","https://openalex.org/W2947331981","https://openalex.org/W2948452254","https://openalex.org/W2981462393","https://openalex.org/W2981729160","https://openalex.org/W2981851219","https://openalex.org/W2989445658","https://openalex.org/W2995211006","https://openalex.org/W3000722010","https://openalex.org/W3007913606","https://openalex.org/W3011445504","https://openalex.org/W3011836736","https://openalex.org/W3012195570","https://openalex.org/W3014792551","https://openalex.org/W3017947738","https://openalex.org/W3037669777","https://openalex.org/W3037991043","https://openalex.org/W3043763914","https://openalex.org/W3045516846","https://openalex.org/W3110363133","https://openalex.org/W3114059704","https://openalex.org/W3126212774","https://openalex.org/W3150871206","https://openalex.org/W3187593522","https://openalex.org/W3194878029","https://openalex.org/W3199022428","https://openalex.org/W3202846927","https://openalex.org/W3205613070","https://openalex.org/W4200027130","https://openalex.org/W4205362558","https://openalex.org/W4205509614","https://openalex.org/W4206614905","https://openalex.org/W4220859467","https://openalex.org/W4226342713","https://openalex.org/W4287887354"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3042530408","https://openalex.org/W3138645172","https://openalex.org/W2148917807","https://openalex.org/W2257960210","https://openalex.org/W2028510469","https://openalex.org/W913501818","https://openalex.org/W4379525781"],"abstract_inverted_index":{"This":[0],"article":[1],"deals":[2],"with":[3,118,160],"collision-risk-based":[4],"event-triggered":[5,43],"optimal":[6,114,148],"formation":[7,96,103,115,149,155],"control":[8,70,80,86,107,116,139],"problems":[9],"for":[10,34],"mobile":[11,135],"multiagent":[12,111],"systems.":[13],"First,":[14],"several":[15],"collision-risk-related":[16],"definitions,":[17],"such":[18],"as":[19],"collision-free":[20],"margin,":[21],"moving":[22,36],"direction":[23,82],"angle,":[24,27],"collision":[25,29,62,94,131,146],"risk":[26,30,132],"and":[28,84,105,151],"level,":[31],"are":[32],"proposed":[33,138],"the":[35,51,57,93,102,110,130,137,145,153,164],"agents.":[37,165],"Then,":[38],"a":[39,76,79,85],"collision-risk":[40],"dependent,":[41],"time-varying,":[42],"heterogeneous":[44],"communication":[45],"network":[46],"topology":[47],"is":[48,73,89,121,141],"developed,":[49],"where":[50],"agent":[52],"starts":[53],"obtaining":[54],"information":[55,133,162],"of":[56,75,97,109,134,163],"neighboring":[58],"agents":[59],"only":[60],"when":[61],"risks":[63],"occur":[64],"among":[65],"them.":[66],"Third,":[67],"an":[68,113],"anti-collision":[69,154],"law,":[71],"which":[72],"composed":[74],"switch":[77],"function,":[78,83,88],"force":[81],"strength":[87],"designed":[90],"to":[91,100,143],"guarantee":[92],"avoidance":[95,147],"multiagents.":[98],"Fourth,":[99],"ensure":[101],"quality":[104],"save":[106],"cost":[108],"system,":[112],"scheme":[117,140],"feedforward":[119],"compensation":[120],"designed.":[122],"Simulation":[123],"results":[124],"illustrate":[125],"that:":[126],"1)":[127],"by":[128],"using":[129],"agents,":[136],"effective":[142],"realize":[144],"task":[150],"2)":[152],"controller":[156],"can":[157],"be":[158],"implemented":[159],"incomplete":[161]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
