{"id":"https://openalex.org/W4387917949","doi":"https://doi.org/10.1109/tsmc.2023.3322154","title":"Distributed Motion Control for Multiple Mobile Robots Using Discrete-Event Systems and Model Predictive Control","display_name":"Distributed Motion Control for Multiple Mobile Robots Using Discrete-Event Systems and Model Predictive Control","publication_year":2023,"publication_date":"2023-10-24","ids":{"openalex":"https://openalex.org/W4387917949","doi":"https://doi.org/10.1109/tsmc.2023.3322154"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2023.3322154","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3322154","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/A5083918663","display_name":"Yuan Zhou","orcid":"https://orcid.org/0000-0002-1583-7570"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Yuan Zhou","raw_affiliation_strings":["School of Computer Science and Engineering, Nanyang Technological University, Jurong West, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080332732","display_name":"Hesuan Hu","orcid":"https://orcid.org/0000-0002-8724-2058"},"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":"Hesuan Hu","raw_affiliation_strings":["School of Electro-Mechanical Engineering, Xidian University, Xi’an, China"],"affiliations":[{"raw_affiliation_string":"School of Electro-Mechanical Engineering, Xidian University, Xi’an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029243457","display_name":"Gelei Deng","orcid":"https://orcid.org/0000-0002-0046-6674"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Gelei Deng","raw_affiliation_strings":["School of Computer Science and Engineering, Nanyang Technological University, Jurong West, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103088611","display_name":"Kun Cheng","orcid":"https://orcid.org/0000-0002-7797-911X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Cheng","raw_affiliation_strings":["State Key Laboratory of Software Development Environment, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Software Development Environment, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072863865","display_name":"Shang\u2010Wei Lin","orcid":"https://orcid.org/0000-0002-9726-3434"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shang-Wei Lin","raw_affiliation_strings":["School of Computer Science and Engineering, Nanyang Technological University, Jurong West, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100355692","display_name":"Yang Liu","orcid":"https://orcid.org/0000-0001-7300-9215"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yang Liu","raw_affiliation_strings":["School of Computer Science and Engineering, Nanyang Technological University, Jurong West, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077615805","display_name":"Zuohua Ding","orcid":"https://orcid.org/0000-0002-9671-7836"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zuohua Ding","raw_affiliation_strings":["School of Computer Science and Technology, Zhejiang Sci-Tech University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5083918663"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":0.9629,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.78010252,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"54","issue":"2","first_page":"997","last_page":"1010"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"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":0.9987000226974487,"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":0.9980999827384949,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9958000183105469,"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":0.6701684594154358},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5832976698875427},{"id":"https://openalex.org/keywords/deadlock","display_name":"Deadlock","score":0.5180718898773193},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5140732526779175},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.49410155415534973},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.487043172121048},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4653957784175873},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.45558154582977295},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.45044955611228943},{"id":"https://openalex.org/keywords/discrete-time-and-continuous-time","display_name":"Discrete time and continuous time","score":0.4265298843383789},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4007076919078827},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3825441598892212},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3811451196670532},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.38080033659935},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3400418162345886},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.23504751920700073},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2094745934009552},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17476072907447815},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08612102270126343}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6701684594154358},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5832976698875427},{"id":"https://openalex.org/C159023740","wikidata":"https://www.wikidata.org/wiki/Q623276","display_name":"Deadlock","level":2,"score":0.5180718898773193},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5140732526779175},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.49410155415534973},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.487043172121048},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4653957784175873},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.45558154582977295},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.45044955611228943},{"id":"https://openalex.org/C55689738","wikidata":"https://www.wikidata.org/wiki/Q15963867","display_name":"Discrete time and continuous time","level":2,"score":0.4265298843383789},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4007076919078827},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3825441598892212},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3811451196670532},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.38080033659935},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3400418162345886},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.23504751920700073},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2094745934009552},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17476072907447815},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08612102270126343},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2023.3322154","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3322154","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":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7599999904632568}],"awards":[{"id":"https://openalex.org/G205818515","display_name":null,"funder_award_id":"62132014","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G426835721","display_name":null,"funder_award_id":"61203037","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4326781678","display_name":null,"funder_award_id":"NCET-12-0921","funder_id":"https://openalex.org/F4320334924","funder_display_name":"Program for New Century Excellent Talents in University"},{"id":"https://openalex.org/G8305363616","display_name":null,"funder_award_id":"61973242","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8411548885","display_name":null,"funder_award_id":"61573265","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8982717833","display_name":null,"funder_award_id":"AISG2-GC-2023-008","funder_id":"https://openalex.org/F4320320709","funder_display_name":"National Research Foundation Singapore"},{"id":"https://openalex.org/G941696814","display_name":null,"funder_award_id":"2017ZDJC-34","funder_id":"https://openalex.org/F4320336567","funder_display_name":"Natural Science Basic Research Program of Shaanxi Province"}],"funders":[{"id":"https://openalex.org/F4320320709","display_name":"National Research Foundation Singapore","ror":"https://ror.org/03cpyc314"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334924","display_name":"Program for New Century Excellent Talents in University","ror":"https://ror.org/01mv9t934"},{"id":"https://openalex.org/F4320336567","display_name":"Natural Science Basic Research Program of Shaanxi Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1471578414","https://openalex.org/W1489244333","https://openalex.org/W1572881542","https://openalex.org/W1957861458","https://openalex.org/W1975134293","https://openalex.org/W1982672434","https://openalex.org/W1999744469","https://openalex.org/W2012298116","https://openalex.org/W2013610941","https://openalex.org/W2016501629","https://openalex.org/W2046344033","https://openalex.org/W2046431055","https://openalex.org/W2047083748","https://openalex.org/W2077578897","https://openalex.org/W2085410041","https://openalex.org/W2098803517","https://openalex.org/W2116772004","https://openalex.org/W2125240595","https://openalex.org/W2128990851","https://openalex.org/W2142298978","https://openalex.org/W2142943472","https://openalex.org/W2146714802","https://openalex.org/W2166550188","https://openalex.org/W2388591084","https://openalex.org/W2593272389","https://openalex.org/W2761151150","https://openalex.org/W2782493803","https://openalex.org/W2891520517","https://openalex.org/W2897576698","https://openalex.org/W2910288398","https://openalex.org/W2916156896","https://openalex.org/W2952408149","https://openalex.org/W2968427533","https://openalex.org/W2991570803","https://openalex.org/W3033764812","https://openalex.org/W3039853611","https://openalex.org/W3096346213","https://openalex.org/W3120522160","https://openalex.org/W3196920896","https://openalex.org/W4231761304","https://openalex.org/W4312835354"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2743212448","https://openalex.org/W2889566344","https://openalex.org/W397120980","https://openalex.org/W3046417820","https://openalex.org/W2537110013","https://openalex.org/W583309402","https://openalex.org/W4381746183"],"abstract_inverted_index":{"Distributed":[0],"motion":[1,32,65,82,186],"control":[2,66,96,123,138,155],"is":[3,83,98,118],"critical":[4],"in":[5,160,175],"multiple":[6],"mobile":[7,44],"robot":[8,72,181],"systems":[9],"(MMRSs).":[10],"Current":[11],"research":[12],"usually":[13],"focuses":[14],"on":[15,91],"either":[16],"discrete":[17,57,87,109,116,137],"approaches,":[18,36],"which":[19,37,92],"aim":[20],"to":[21,43,100,107,183],"deal":[22,48],"with":[23,49],"high-level":[24],"collisions":[25,102],"and":[26,58,103,124,142,145,163,170,200],"deadlocks":[27,50],"without":[28],"considering":[29],"the":[30,108,111,136,147,150,157,185,205],"low-level":[31,40],"commands,":[33],"or":[34],"continuous":[35,41,59,112,154,158],"can":[38],"optimize":[39],"commands":[42],"robots":[45],"but":[46],"cannot":[47],"efficiently.":[51],"In":[52],"this":[53],"article,":[54],"by":[55,190],"combining":[56],"methods,":[60],"we":[61],"design":[62],"a":[63,76,86,93,176],"hybrid":[64,130],"method":[67],"for":[68],"MMRSs":[69],"where":[70],"each":[71,80,115,180],"should":[73],"move":[74,174],"along":[75],"predefined":[77],"path.":[78],"First,":[79,135],"robot\u2019s":[81],"modeled":[84],"as":[85],"transition":[88],"system,":[89],"based":[90],"real-time":[94],"supervisory":[95],"policy":[97],"illustrated":[99],"avoid":[101],"deadlocks.":[104],"Second,":[105,153],"according":[106],"decisions,":[110],"speed":[113,159],"at":[114],"state":[117],"computed":[119],"using":[120],"model":[121],"predictive":[122],"sequential":[125],"convex":[126],"programming.":[127],"The":[128,198],"proposed":[129],"approach":[131],"brings":[132],"two":[133],"advantages.":[134],"component":[139],"guarantees":[140],"collision":[141],"deadlock":[143],"avoidance":[144],"reduces":[146],"scale":[148],"of":[149,187,207],"optimization":[151],"problems.":[152],"optimizes":[156],"real":[161],"time":[162,169],"fulfills":[164],"other":[165],"performance":[166],"requirements":[167],"like":[168],"energy":[171],"costs.":[172],"To":[173],"fully":[177],"distributed":[178],"way,":[179],"needs":[182],"predict":[184],"its":[188],"neighbors":[189],"retrieving":[191],"their":[192],"immediately":[193],"available":[194],"information":[195],"through":[196],"communications.":[197],"simulation":[199],"real-world":[201],"experimental":[202],"results":[203],"show":[204],"effectiveness":[206],"our":[208],"approach.":[209]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}