{"id":"https://openalex.org/W2162574196","doi":"https://doi.org/10.1109/cdc.2009.5400843","title":"Leader-following formation control of multiple vision-based autonomous robotic fish","display_name":"Leader-following formation control of multiple vision-based autonomous robotic fish","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2162574196","doi":"https://doi.org/10.1109/cdc.2009.5400843","mag":"2162574196"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2009.5400843","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2009.5400843","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese 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/A5116337677","display_name":"Wei Zhao","orcid":"https://orcid.org/0009-0005-6733-3007"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhao","raw_affiliation_strings":["Intelligent Control Laboratory Department of Mechanics and Space Technologies College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Control Laboratory Department of Mechanics and Space Technologies College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001441001","display_name":"Yonghui Hu","orcid":"https://orcid.org/0000-0002-7228-5418"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yonghui Hu","raw_affiliation_strings":["Intelligent Control Laboratory Department of Mechanics and Space Technologies College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Control Laboratory Department of Mechanics and Space Technologies College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100447536","display_name":"Long Wang","orcid":"https://orcid.org/0000-0001-5600-8157"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Wang","raw_affiliation_strings":["Intelligent Control Laboratory Department of Mechanics and Space Technologies College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Control Laboratory Department of Mechanics and Space Technologies College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I20231570"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"579","last_page":"584"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9994999766349792,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6976121068000793},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6148651838302612},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5839440226554871},{"id":"https://openalex.org/keywords/b\u00e9zier-curve","display_name":"B\u00e9zier curve","score":0.5796118974685669},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.539377748966217},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.536202609539032},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5080859661102295},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4696701467037201},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4580373764038086},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.448464959859848},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22410240769386292},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2193470001220703},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08171111345291138}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6976121068000793},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6148651838302612},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5839440226554871},{"id":"https://openalex.org/C206423108","wikidata":"https://www.wikidata.org/wiki/Q214728","display_name":"B\u00e9zier curve","level":2,"score":0.5796118974685669},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.539377748966217},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.536202609539032},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5080859661102295},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4696701467037201},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4580373764038086},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.448464959859848},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22410240769386292},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2193470001220703},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08171111345291138},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2009.5400843","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2009.5400843","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W34663649","https://openalex.org/W1517023801","https://openalex.org/W1542136219","https://openalex.org/W1559482737","https://openalex.org/W2000512259","https://openalex.org/W2068275355","https://openalex.org/W2094460003","https://openalex.org/W2094963988","https://openalex.org/W2119120935","https://openalex.org/W2144634646","https://openalex.org/W2162407654","https://openalex.org/W2502011505","https://openalex.org/W6633536816"],"related_works":["https://openalex.org/W2873344491","https://openalex.org/W2389575128","https://openalex.org/W2313232378","https://openalex.org/W1903555144","https://openalex.org/W2357871848","https://openalex.org/W2165642858","https://openalex.org/W1941703695","https://openalex.org/W2903025760","https://openalex.org/W2145988717","https://openalex.org/W2018658498"],"abstract_inverted_index":{"A":[0],"framework":[1],"for":[2],"the":[3,23,47,54,58,61,98,102,117,132],"deployment":[4],"of":[5,28,49,57,63,76,101,119,123,134],"multiple":[6],"autonomous":[7],"robotic":[8,59],"fish":[9],"to":[10,67,83,96,111],"achieve":[11],"leader-following":[12],"formations":[13,122],"with":[14,31],"Bezier":[15,40,64],"trajectory":[16,41],"is":[17,72,109],"presented.":[18],"Each":[19],"follower":[20,103],"robot":[21],"estimates":[22],"position":[24,45,48],"and":[25,37,46,79,87],"orientation":[26],"angle":[27],"its":[29,43,50,113],"leader":[30,51],"a":[32,39,85,106],"fast":[33],"color-tracking":[34],"vision":[35],"system,":[36],"establishes":[38],"between":[42],"current":[44],"robot.":[52],"Considering":[53],"nonholonomic":[55],"properties":[56],"fish,":[60],"optimization":[62],"curve's":[65],"curvature":[66],"choose":[68],"appropriate":[69],"scale":[70],"factor":[71],"conducted":[73],"by":[74],"combination":[75],"penalty":[77],"function":[78],"one-dimensional":[80],"search":[81],"methods":[82],"perform":[84],"smooth":[86],"stable":[88],"trajectory.":[89],"The":[90],"optimal":[91],"trajectories":[92],"are":[93],"accurate":[94],"enough":[95],"estimate":[97],"angular":[99],"velocity":[100],"robot,":[104],"while":[105],"fuzzy":[107],"controller":[108],"used":[110],"adjust":[112],"linear":[114],"velocity.":[115],"By":[116],"introduction":[118],"virtual":[120],"leaders,":[121],"different":[124],"shapes":[125],"can":[126],"be":[127],"generated.":[128],"Experimental":[129],"results":[130],"show":[131],"effectiveness":[133],"our":[135],"approach.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}