{"id":"https://openalex.org/W4404564877","doi":"https://doi.org/10.1109/vss61690.2024.10753418","title":"Formation Control with Collision Avoidance: Adaptive Sliding Mode Approach","display_name":"Formation Control with Collision Avoidance: Adaptive Sliding Mode Approach","publication_year":2024,"publication_date":"2024-10-21","ids":{"openalex":"https://openalex.org/W4404564877","doi":"https://doi.org/10.1109/vss61690.2024.10753418"},"language":"en","primary_location":{"id":"doi:10.1109/vss61690.2024.10753418","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/vss61690.2024.10753418","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 17th International Workshop on Variable Structure Systems (VSS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5008883548","display_name":"Asifa Yesmin","orcid":"https://orcid.org/0000-0002-3143-2338"},"institutions":[{"id":"https://openalex.org/I162827531","display_name":"Indian Institute of Technology Bombay","ror":"https://ror.org/02qyf5152","country_code":"IN","type":"education","lineage":["https://openalex.org/I162827531"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Asifa Yesmin","raw_affiliation_strings":["Indian Institute of Technology,IDP in Systems and Control Engineering,Bombay,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology,IDP in Systems and Control Engineering,Bombay,India","institution_ids":["https://openalex.org/I162827531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070189059","display_name":"Kiran Kumari","orcid":"https://orcid.org/0000-0001-7850-3298"},"institutions":[{"id":"https://openalex.org/I162827531","display_name":"Indian Institute of Technology Bombay","ror":"https://ror.org/02qyf5152","country_code":"IN","type":"education","lineage":["https://openalex.org/I162827531"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Kiran Kumari","raw_affiliation_strings":["Indian Institute of Technology,IDP in Systems and Control Engineering,Bombay,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology,IDP in Systems and Control Engineering,Bombay,India","institution_ids":["https://openalex.org/I162827531"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090008120","display_name":"Arpita Sinha","orcid":"https://orcid.org/0000-0002-9116-3467"},"institutions":[{"id":"https://openalex.org/I162827531","display_name":"Indian Institute of Technology Bombay","ror":"https://ror.org/02qyf5152","country_code":"IN","type":"education","lineage":["https://openalex.org/I162827531"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Arpita Sinha","raw_affiliation_strings":["Indian Institute of Technology,IDP in Systems and Control Engineering,Bombay,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology,IDP in Systems and Control Engineering,Bombay,India","institution_ids":["https://openalex.org/I162827531"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I162827531"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"261","last_page":"266"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9456999897956848,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9456999897956848,"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"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9447000026702881,"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"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9312000274658203,"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/collision-avoidance","display_name":"Collision avoidance","score":0.8113478422164917},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5458663702011108},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5431451201438904},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5344535112380981},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5182414054870605},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.49852728843688965},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4817054867744446},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4438883066177368},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15315663814544678},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15225106477737427},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.10879117250442505},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.09230417013168335}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8113478422164917},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5458663702011108},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5431451201438904},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5344535112380981},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5182414054870605},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.49852728843688965},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4817054867744446},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4438883066177368},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15315663814544678},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15225106477737427},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.10879117250442505},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.09230417013168335},{"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/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/vss61690.2024.10753418","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/vss61690.2024.10753418","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 17th International Workshop on Variable Structure Systems (VSS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334771","display_name":"Science and Engineering Research Board","ror":"https://ror.org/03ffdsr55"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2023516690","https://openalex.org/W2062260726","https://openalex.org/W2088195248","https://openalex.org/W2117542675","https://openalex.org/W2119120935","https://openalex.org/W2140380216","https://openalex.org/W2157540237","https://openalex.org/W2171773931","https://openalex.org/W2244903178","https://openalex.org/W2420367108","https://openalex.org/W2516551914","https://openalex.org/W2774042190","https://openalex.org/W2789862859","https://openalex.org/W2790219143","https://openalex.org/W2795623602","https://openalex.org/W2886097753","https://openalex.org/W2922416620","https://openalex.org/W2981427042","https://openalex.org/W3008568452","https://openalex.org/W3127350400","https://openalex.org/W3163060079","https://openalex.org/W3213962440","https://openalex.org/W4251013842","https://openalex.org/W4282564021","https://openalex.org/W4300885720","https://openalex.org/W4399124665"],"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/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W2110982267"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,8,22,61],"formation":[4],"control":[5,18,65],"framework":[6],"for":[7],"double":[9],"integrator":[10],"multi-agent":[11],"system":[12,83],"(MAS)":[13],"utilizing":[14],"adaptive":[15,102],"sliding":[16,47,74],"mode":[17],"(SMC)":[19],"integrated":[20],"with":[21],"collision":[23,57],"avoidance":[24,43,58],"strategy.":[25],"To":[26],"prevent":[27],"inter-agent":[28,37],"collisions,":[29],"the":[30,71,80,97,115,118],"artificial":[31],"potential":[32],"function":[33],"is":[34,49,67,84],"employed,":[35],"leveraging":[36],"positions":[38],"and":[39,42,101],"predefined":[40],"safe":[41],"zones.":[44],"A":[45,89],"new":[46],"surface":[48],"defined":[50],"to":[51,69,95,113],"enhance":[52],"tracking":[53,81],"performance":[54,98],"while":[55],"incorporating":[56],"functionalities.":[59],"Additionally,":[60],"proportional":[62],"reaching":[63],"law-based":[64],"scheme":[66],"devised":[68],"expedite":[70],"convergence":[72],"of":[73,79,99,117],"trajectories.":[75],"The":[76],"asymptotic":[77],"stability":[78],"error":[82],"demonstrated":[85],"through":[86],"Lyapunov":[87],"analysis.":[88],"numerical":[90],"calculation":[91],"has":[92],"been":[93],"performed":[94],"evaluate":[96],"SMC":[100,103],"based":[104],"on":[105],"different":[106],"indices.":[107],"MATLAB":[108],"simulation":[109],"results":[110],"are":[111],"presented":[112],"illustrate":[114],"effectiveness":[116],"proposed":[119],"controller":[120],"design.":[121]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
