{"id":"https://openalex.org/W2159411986","doi":"https://doi.org/10.1109/acc.2006.1656404","title":"Formation control for a cooperative multi-agent system using decentralized navigation functions","display_name":"Formation control for a cooperative multi-agent system using decentralized navigation functions","publication_year":2006,"publication_date":"2006-01-01","ids":{"openalex":"https://openalex.org/W2159411986","doi":"https://doi.org/10.1109/acc.2006.1656404","mag":"2159411986"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2006.1656404","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2006.1656404","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 American Control Conference","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/A5017398366","display_name":"Maria Carmela De Gennaro","orcid":null},"institutions":[{"id":"https://openalex.org/I16337185","display_name":"University of Sannio","ror":"https://ror.org/04vc81p87","country_code":"IT","type":"education","lineage":["https://openalex.org/I16337185"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M.C. De Gennaro","raw_affiliation_strings":["Dipartimento di Ingegneria, Universit\u00e0 del Sannio, Benevento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria, Universit\u00e0 del Sannio, Benevento, Italy","institution_ids":["https://openalex.org/I16337185"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078288116","display_name":"Ali Jadbabaie","orcid":"https://orcid.org/0000-0003-1122-3069"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Jadbabaie","raw_affiliation_strings":["Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.2306,"has_fulltext":false,"cited_by_count":128,"citation_normalized_percentile":{"value":0.95650708,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"6 pp.","last_page":"6 pp."},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980999827384949,"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/T12288","display_name":"Optimization and Search Problems","score":0.993399977684021,"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/workspace","display_name":"Workspace","score":0.8203290700912476},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.6621661186218262},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6245907545089722},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.494716614484787},{"id":"https://openalex.org/keywords/directed-acyclic-graph","display_name":"Directed acyclic graph","score":0.4890945553779602},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4812176525592804},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4676700830459595},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.45410239696502686},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.4317514896392822},{"id":"https://openalex.org/keywords/interconnection","display_name":"Interconnection","score":0.4124152958393097},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4123591482639313},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.41192519664764404},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4063175618648529},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.19376835227012634},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19084888696670532},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16577965021133423},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10982277989387512},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08791887760162354},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.08210614323616028}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8203290700912476},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.6621661186218262},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6245907545089722},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.494716614484787},{"id":"https://openalex.org/C74197172","wikidata":"https://www.wikidata.org/wiki/Q1195339","display_name":"Directed acyclic graph","level":2,"score":0.4890945553779602},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4812176525592804},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4676700830459595},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.45410239696502686},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.4317514896392822},{"id":"https://openalex.org/C123745756","wikidata":"https://www.wikidata.org/wiki/Q1665949","display_name":"Interconnection","level":2,"score":0.4124152958393097},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4123591482639313},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.41192519664764404},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4063175618648529},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.19376835227012634},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19084888696670532},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16577965021133423},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10982277989387512},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08791887760162354},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.08210614323616028},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2006.1656404","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2006.1656404","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W100354579","https://openalex.org/W247697463","https://openalex.org/W1508056422","https://openalex.org/W1542519172","https://openalex.org/W1567230325","https://openalex.org/W1976486181","https://openalex.org/W2010434073","https://openalex.org/W2089724372","https://openalex.org/W2105850748","https://openalex.org/W2110144538","https://openalex.org/W2115263115","https://openalex.org/W2119120935","https://openalex.org/W2119955255","https://openalex.org/W2124124006","https://openalex.org/W2126101691","https://openalex.org/W2128306397","https://openalex.org/W2128928412","https://openalex.org/W2129338827","https://openalex.org/W2147324680","https://openalex.org/W2147928602","https://openalex.org/W2159745310","https://openalex.org/W2159826786","https://openalex.org/W2165744313","https://openalex.org/W2167485994","https://openalex.org/W4238591275","https://openalex.org/W6632782828"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W38056103","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W1999333556"],"abstract_inverted_index":{"We":[0,57],"propose":[1],"a":[2,7,32,37,66,73],"decentralized":[3],"cooperative":[4],"controller":[5],"for":[6],"group":[8,26],"of":[9,24,52,72,93],"mobile":[10],"agents.":[11,56],"The":[12,22,45],"control":[13,27,67],"design":[14,65],"is":[15,29,48,61,96,102],"based":[16],"on":[17],"the":[18,25,55,70,81,91,94,110],"navigation":[19,75],"function":[20,76],"formalism.":[21],"aim":[23],"law":[28,68],"to":[30,64,80,108],"generate":[31],"pattern":[33],"or":[34],"formation":[35],"in":[36,50,85],"given":[38],"workspace":[39],"while":[40],"avoiding":[41],"obstacles":[42],"and":[43],"collisions.":[44],"desired":[46,82],"goal":[47],"specified":[49],"terms":[51],"distances":[53],"among":[54],"show":[58],"that":[59],"it":[60],"always":[62],"possible":[63],"as":[69,89],"gradient":[71],"suitably-defined":[74],"whose":[77],"minimum":[78,101],"corresponds":[79],"configuration.":[83],"Furthermore":[84],"certain":[86],"cases,":[87],"such":[88],"when":[90],"topology":[92],"interconnection":[95],"an":[97],"acyclic":[98],"graph,":[99],"this":[100],"unique.":[103],"Some":[104],"simulations":[105],"are":[106],"shown":[107],"test":[109],"strategy":[111]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":11},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":16},{"year":2012,"cited_by_count":7}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}