{"id":"https://openalex.org/W2274304191","doi":"https://doi.org/10.1109/tcst.2015.2437328","title":"Leader\u2013Follower Formation and Tracking Control of Mobile Robots Along Straight Paths","display_name":"Leader\u2013Follower Formation and Tracking Control of Mobile Robots Along Straight Paths","publication_year":2015,"publication_date":"2015-06-16","ids":{"openalex":"https://openalex.org/W2274304191","doi":"https://doi.org/10.1109/tcst.2015.2437328","mag":"2274304191"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2015.2437328","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2015.2437328","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01357244","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090052067","display_name":"Antonio Lor\u0131\u0301a","orcid":"https://orcid.org/0000-0003-4223-9397"},"institutions":[{"id":"https://openalex.org/I102475099","display_name":"Sup\u00e9lec","ror":"https://ror.org/00n7gwn90","country_code":"FR","type":"education","lineage":["https://openalex.org/I102475099"]},{"id":"https://openalex.org/I4210097418","display_name":"Laboratoire des signaux et syst\u00e8mes","ror":"https://ror.org/00skw9v43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Antonio Loria","raw_affiliation_strings":["Laboratoire des signaux et syst\u00e8mes, Centre National de la Recherche Scientifique, Sup\u00e9lec, Gif-sur-Yvette, France","Laboratoire des signaux et syst\u00e8mes"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire des signaux et syst\u00e8mes, Centre National de la Recherche Scientifique, Sup\u00e9lec, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I102475099"]},{"raw_affiliation_string":"Laboratoire des signaux et syst\u00e8mes","institution_ids":["https://openalex.org/I4210097418"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050971154","display_name":"Janset Da\u015fdemir","orcid":"https://orcid.org/0000-0003-1886-5240"},"institutions":[{"id":"https://openalex.org/I4101805","display_name":"Y\u0131ld\u0131z Technical University","ror":"https://ror.org/0547yzj13","country_code":"TR","type":"education","lineage":["https://openalex.org/I4101805"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Janset Dasdemir","raw_affiliation_strings":["Yildiz Technical University, Istanbul, Turkey","Electrical Engineering Department"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yildiz Technical University, Istanbul, Turkey","institution_ids":["https://openalex.org/I4101805"]},{"raw_affiliation_string":"Electrical Engineering Department","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005419856","display_name":"Nohemi Alvarez Jarquin","orcid":"https://orcid.org/0000-0003-3367-5517"},"institutions":[{"id":"https://openalex.org/I102475099","display_name":"Sup\u00e9lec","ror":"https://ror.org/00n7gwn90","country_code":"FR","type":"education","lineage":["https://openalex.org/I102475099"]},{"id":"https://openalex.org/I4210097418","display_name":"Laboratoire des signaux et syst\u00e8mes","ror":"https://ror.org/00skw9v43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nohemi Alvarez Jarquin","raw_affiliation_strings":["Laboratoire des signaux et syst\u00e8mes, Centre National de la Recherche Scientifique, Sup\u00e9lec, Gif-sur-Yvette, France","Laboratoire des signaux et syst\u00e8mes"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire des signaux et syst\u00e8mes, Centre National de la Recherche Scientifique, Sup\u00e9lec, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I102475099"]},{"raw_affiliation_string":"Laboratoire des signaux et syst\u00e8mes","institution_ids":["https://openalex.org/I4210097418"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":21.3761,"has_fulltext":false,"cited_by_count":240,"citation_normalized_percentile":{"value":0.99566485,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"24","issue":"2","first_page":"727","last_page":"732"},"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":0.9995999932289124,"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":0.9995999932289124,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994999766349792,"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":0.9957000017166138,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6983168125152588},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.658022940158844},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5982252955436707},{"id":"https://openalex.org/keywords/spanning-tree","display_name":"Spanning tree","score":0.5820925235748291},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5792235136032104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5718123912811279},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5257259607315063},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4432050287723541},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.42117398977279663},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33125579357147217},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3094164729118347},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24989283084869385},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2177155613899231},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1688118577003479}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6983168125152588},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.658022940158844},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5982252955436707},{"id":"https://openalex.org/C64331007","wikidata":"https://www.wikidata.org/wiki/Q831672","display_name":"Spanning tree","level":2,"score":0.5820925235748291},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5792235136032104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5718123912811279},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5257259607315063},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4432050287723541},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.42117398977279663},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33125579357147217},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3094164729118347},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24989283084869385},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2177155613899231},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1688118577003479},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2015.2437328","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2015.2437328","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-01357244v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01357244","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Control Systems Technology, 2016, 24 (2), pp.727-732. ⟨10.1109/TCST.2015.2437328⟩","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01357244v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01357244","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Control Systems Technology, 2016, 24 (2), pp.727-732. ⟨10.1109/TCST.2015.2437328⟩","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1527177198","https://openalex.org/W1551896781","https://openalex.org/W1572161815","https://openalex.org/W1971723607","https://openalex.org/W1993436983","https://openalex.org/W1996293513","https://openalex.org/W2001860529","https://openalex.org/W2039499494","https://openalex.org/W2062427453","https://openalex.org/W2067603665","https://openalex.org/W2098692763","https://openalex.org/W2099252494","https://openalex.org/W2110624723","https://openalex.org/W2119959427","https://openalex.org/W2133066324","https://openalex.org/W2133754447","https://openalex.org/W2158708576","https://openalex.org/W2169082695","https://openalex.org/W2171898654","https://openalex.org/W4254127125","https://openalex.org/W6632787685","https://openalex.org/W6643284475","https://openalex.org/W6683430138","https://openalex.org/W6685368490"],"related_works":["https://openalex.org/W4288714711","https://openalex.org/W3200708550","https://openalex.org/W2736680465","https://openalex.org/W2771637876","https://openalex.org/W4294093918","https://openalex.org/W4240853094","https://openalex.org/W2810496283","https://openalex.org/W2170656329","https://openalex.org/W3131977017","https://openalex.org/W3205823858"],"abstract_inverted_index":{"We":[0,17],"address":[1],"the":[2,33,36,50,60,73,79,92,126,131,135,145,151],"problem":[3],"of":[4,7,35,62,94,116,118,133,137,150,175],"tracking":[5],"control":[6],"multiple":[8],"mobile":[9],"robots":[10],"advancing":[11],"in":[12,171],"formation":[13],"along":[14],"straight-line":[15],"paths.":[16],"use":[18],"a":[19,54,63,83,88,109,114],"leader-follower":[20],"approach,":[21],"and":[22,139,154],"hence,":[23,155],"we":[24],"assume":[25],"that":[26],"only":[27],"one":[28,45],"swarm":[29],"leader":[30,47],"robot":[31,41],"has":[32,87],"information":[34,43],"reference":[37],"trajectory.":[38],"Then,":[39],"each":[40],"receives":[42],"from":[44],"intermediary":[46],"only.":[48],"Therefore,":[49],"communications":[51],"graph":[52],"forms":[53],"simple":[55,110],"spanning":[56,64],"directed":[57],"tree.":[58],"As":[59],"existence":[61],"tree":[65],"is":[66,72],"necessary":[67],"to":[68,77,161],"achieve":[69,78],"consensus,":[70],"it":[71],"minimal":[74],"configuration":[75],"possible":[76],"formation-tracking":[80],"objective.":[81],"From":[82],"technological":[84],"viewpoint,":[85],"this":[86],"direct":[89],"impact":[90],"on":[91],"simplicity":[93],"its":[95],"implementation;":[96],"e.g.,":[97],"less":[98],"sensors":[99],"are":[100,104,128],"needed.":[101],"Our":[102,141],"controllers":[103,127],"partially":[105],"linear":[106],"time-varying":[107],"with":[108,130,159],"added":[111],"nonlinearity":[112],"satisfying":[113],"property":[115],"persistency":[117],"excitation,":[119],"tailored":[120],"for":[121],"nonlinear":[122],"systems.":[123],"Structurally":[124],"speaking,":[125],"designed":[129],"aim":[132],"separating":[134],"tasks":[136],"position-tracking":[138],"orientation.":[140],"main":[142],"results":[143],"ensure":[144],"uniform":[146],"global":[147],"asymptotic":[148],"stabilization":[149],"closed-loop":[152],"system,":[153],"they":[156],"imply":[157],"robustness":[158],"respect":[160],"perturbations.":[162],"All":[163],"these":[164],"aspects":[165],"make":[166],"our":[167],"approach":[168],"highly":[169],"attractive":[170],"diverse":[172],"application":[173],"domains":[174],"vehicles'":[176],"formations":[177],"such":[178],"as":[179],"factory":[180],"settings.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":21},{"year":2022,"cited_by_count":24},{"year":2021,"cited_by_count":24},{"year":2020,"cited_by_count":22},{"year":2019,"cited_by_count":46},{"year":2018,"cited_by_count":31},{"year":2017,"cited_by_count":22},{"year":2016,"cited_by_count":11}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}