{"id":"https://openalex.org/W4317383420","doi":"https://doi.org/10.1109/robio55434.2022.10011931","title":"Distributed Formation Control of Second-order System with Input Saturation and Obstacle Avoidance","display_name":"Distributed Formation Control of Second-order System with Input Saturation and Obstacle Avoidance","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317383420","doi":"https://doi.org/10.1109/robio55434.2022.10011931"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011931","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011931","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5102078589","display_name":"Junhui Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junhui Xu","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology,Beijing,China","College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology,Beijing,China","institution_ids":["https://openalex.org/I75390827"]},{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049033557","display_name":"Ran Huang","orcid":"https://orcid.org/0000-0003-0226-8492"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ran Huang","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology,Beijing,China","College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology,Beijing,China","institution_ids":["https://openalex.org/I75390827"]},{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I75390827"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1210","last_page":"1215"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":1.0,"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/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.9868999719619751,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9796000123023987,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6697258353233337},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.6668866872787476},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.62088543176651},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6103090047836304},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6068354845046997},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5396613478660583},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5329839587211609},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.4756961762905121},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.47429922223091125},{"id":"https://openalex.org/keywords/saturation","display_name":"Saturation (graph theory)","score":0.41710522770881653},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3640274405479431},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3503573536872864},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32616162300109863},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13824498653411865},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12591928243637085},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09140157699584961},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.07311031222343445}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6697258353233337},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.6668866872787476},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.62088543176651},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6103090047836304},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6068354845046997},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5396613478660583},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5329839587211609},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.4756961762905121},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.47429922223091125},{"id":"https://openalex.org/C9930424","wikidata":"https://www.wikidata.org/wiki/Q7426587","display_name":"Saturation (graph theory)","level":2,"score":0.41710522770881653},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3640274405479431},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3503573536872864},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32616162300109863},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13824498653411865},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12591928243637085},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09140157699584961},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.07311031222343445},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011931","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011931","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8474955649","display_name":null,"funder_award_id":"U1813220","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W135458956","https://openalex.org/W1630241696","https://openalex.org/W1741382246","https://openalex.org/W1970442053","https://openalex.org/W1976494558","https://openalex.org/W2007259966","https://openalex.org/W2059031134","https://openalex.org/W2073668543","https://openalex.org/W2111366290","https://openalex.org/W2117189493","https://openalex.org/W2128928412","https://openalex.org/W2146890818","https://openalex.org/W2149559996","https://openalex.org/W2160643434","https://openalex.org/W2180358230","https://openalex.org/W2315770071","https://openalex.org/W2910210236","https://openalex.org/W2937598023","https://openalex.org/W2972378582","https://openalex.org/W2996329988","https://openalex.org/W3007553590","https://openalex.org/W3099877635","https://openalex.org/W3148673003","https://openalex.org/W3158757531"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"the":[3,32,49,60,67,71,76,88,92,100,111,120,123],"formation":[4,35,89,112],"control":[5,13],"of":[6,34,55,70,75,78,91,122],"second-order":[7],"systems":[8,56],"with":[9,36,48],"obstacle":[10],"avoidance.":[11],"The":[12,28,44],"input":[14],"is":[15,73,105],"subject":[16],"to":[17,59,86,107,118],"a":[18,37,53],"priori":[19],"saturation":[20],"constraint.":[21],"Two":[22],"distributed":[23],"for-mation":[24],"protocols":[25],"are":[26,84,116],"proposed.":[27],"first":[29],"one":[30,46],"considers":[31],"issue":[33],"group":[38],"reference":[39],"velocity":[40],"under":[41,63],"undirected":[42],"graphs.":[43],"second":[45],"deals":[47],"case":[50],"that":[51],"only":[52],"subset":[54],"have":[57],"access":[58],"leader's":[61],"information":[62],"directed":[64],"graphs,":[65],"and":[66],"upper":[68],"bound":[69],"protocol":[72],"independent":[74],"number":[77],"its":[79],"neighbors.":[80],"Explicit":[81],"Lyapunov":[82],"functions":[83],"constructed":[85],"prove":[87],"properties":[90],"resultant":[93],"closed-loop":[94],"system.":[95],"An":[96],"algorithm":[97],"based":[98],"on":[99],"improved":[101],"artificial":[102],"potential":[103],"field":[104],"developed":[106],"avoid":[108],"obstacles":[109],"in":[110],"process.":[113],"Numerical":[114],"simulations":[115],"presented":[117],"illustrate":[119],"effectiveness":[121],"theoretic":[124],"results.":[125]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}