{"id":"https://openalex.org/W7129088119","doi":"https://doi.org/10.1109/tsmc.2026.3659583","title":"MADS-Based Formation Obstacle Avoidance Control for Multiagent Systems With Escaping Local Minima","display_name":"MADS-Based Formation Obstacle Avoidance Control for Multiagent Systems With Escaping Local Minima","publication_year":2026,"publication_date":"2026-02-16","ids":{"openalex":"https://openalex.org/W7129088119","doi":"https://doi.org/10.1109/tsmc.2026.3659583"},"language":null,"primary_location":{"id":"doi:10.1109/tsmc.2026.3659583","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2026.3659583","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/A5126134839","display_name":"Xuefei Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xuefei Wang","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0003-3723-7055","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126149965","display_name":"Dan Ye","orcid":null},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dan Ye","raw_affiliation_strings":["State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-5725-8956","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":null,"display_name":"Fang Wei","orcid":"https://orcid.org/0000-0002-5243-4682"},"institutions":[{"id":"https://openalex.org/I91656880","display_name":"China Medical University","ror":"https://ror.org/032d4f246","country_code":"CN","type":"education","lineage":["https://openalex.org/I91656880"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Wei","raw_affiliation_strings":["Institute of Foreign Languages, China Medical University, Shenyang, Liaoning, China"],"raw_orcid":"https://orcid.org/0000-0002-5243-4682","affiliations":[{"raw_affiliation_string":"Institute of Foreign Languages, China Medical University, Shenyang, Liaoning, China","institution_ids":["https://openalex.org/I91656880"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5126134839"],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22427019,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"56","issue":"6","first_page":"3723","last_page":"3732"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9488000273704529,"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":0.9488000273704529,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.018200000748038292,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.007300000172108412,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/maxima-and-minima","display_name":"Maxima and minima","score":0.8325999975204468},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7789000272750854},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.679099977016449},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5644000172615051},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.557699978351593},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4950999915599823},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.48330000042915344},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46869999170303345},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.4027000069618225}],"concepts":[{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.8325999975204468},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7789000272750854},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.679099977016449},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5644000172615051},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.557699978351593},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5167999863624573},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4950999915599823},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.48330000042915344},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46869999170303345},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.4027000069618225},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.37720000743865967},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.3443000018596649},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3416000008583069},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3375000059604645},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.33149999380111694},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.3257000148296356},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.31529998779296875},{"id":"https://openalex.org/C33962884","wikidata":"https://www.wikidata.org/wiki/Q378637","display_name":"Dynamical system (definition)","level":3,"score":0.3091000020503998},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2849000096321106},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.27570000290870667},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.27149999141693115},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.26579999923706055},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2653000056743622},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.2612999975681305},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.25589999556541443},{"id":"https://openalex.org/C2776502983","wikidata":"https://www.wikidata.org/wiki/Q690182","display_name":"Contrast (vision)","level":2,"score":0.25429999828338623}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2026.3659583","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2026.3659583","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":[{"score":0.9108982682228088,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G3252525888","display_name":null,"funder_award_id":"ZR2025QC632","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G3334107209","display_name":null,"funder_award_id":"62573099","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5013491306","display_name":null,"funder_award_id":"ZR2025QC676","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G6636611874","display_name":null,"funder_award_id":"62173071","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}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"article":[1],"studies":[2],"the":[3,35,41,52,77,85,95,109,133,136],"problem":[4,42],"of":[5,43,55,79,135],"optimized":[6,64,87],"formation":[7],"control":[8,65,71,90,115],"and":[9,49,60,73,82,98,113,120],"obstacle":[10,28],"avoidance":[11],"in":[12,46],"high-order":[13,123],"nonlinear":[14,124],"multiagent":[15],"systems":[16,21],"(MASs).":[17],"A":[18],"multiplicative-additive":[19],"dynamical":[20],"(MADS)-based":[22],"method":[23,38,66,91,112,116],"is":[24,67],"devised":[25],"to":[26,32,69,103,106,131],"achieve":[27],"avoidance.":[29],"In":[30],"contrast":[31],"existing":[33,107],"results,":[34,108],"proposed":[36,86,110,137],"MADS-based":[37,111],"can":[39,92],"circumvent":[40],"getting":[44],"stuck":[45],"local":[47],"minima":[48],"ensure":[50,93],"that":[51,94],"velocity":[53,99],"magnitude":[54],"agents":[56],"remains":[57],"constant":[58],"before":[59],"after":[61],"modulation.":[62],"An":[63],"designed":[68],"balance":[70],"effectiveness":[72],"energy":[74],"consumption.":[75],"With":[76],"use":[78],"command":[80],"filters":[81],"auxiliary":[83],"functions,":[84],"asymptotic":[88],"tracking":[89,96,114],"errors":[97,100],"asymptotically":[101],"converge":[102],"zero.":[104],"Compared":[105],"are":[117,129],"more":[118],"general":[119],"suitable":[121],"for":[122],"MASs.":[125],"Finally,":[126],"simulation":[127],"examples":[128],"presented":[130],"demonstrate":[132],"feasibility":[134],"method.":[138]},"counts_by_year":[],"updated_date":"2026-05-19T06:13:58.757530","created_date":"2026-02-17T00:00:00"}
