{"id":"https://openalex.org/W4387221393","doi":"https://doi.org/10.1142/s230138502550013x","title":"Distributed Formation Control of Multi-Agent Systems: A Novel Fast-Optimal Balanced Differential Game Approach","display_name":"Distributed Formation Control of Multi-Agent Systems: A Novel Fast-Optimal Balanced Differential Game Approach","publication_year":2023,"publication_date":"2023-09-30","ids":{"openalex":"https://openalex.org/W4387221393","doi":"https://doi.org/10.1142/s230138502550013x"},"language":"en","primary_location":{"id":"doi:10.1142/s230138502550013x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s230138502550013x","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"},"type":"article","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/A5075499613","display_name":"Wenyan Xue","orcid":"https://orcid.org/0000-0003-4446-9858"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenyan Xue","raw_affiliation_strings":["5G+Industrial Internet Institute, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China","College of Electrical Engineering and Automation, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China"],"raw_orcid":"https://orcid.org/0000-0003-4446-9858","affiliations":[{"raw_affiliation_string":"5G+Industrial Internet Institute, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I80947539"]},{"raw_affiliation_string":"College of Electrical Engineering and Automation, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021068534","display_name":"Jie Huang","orcid":"https://orcid.org/0000-0001-7346-5034"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jie Huang","raw_affiliation_strings":["5G+Industrial Internet Institute, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China","College of Electrical Engineering and Automation, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China"],"raw_orcid":"https://orcid.org/0000-0001-7346-5034","affiliations":[{"raw_affiliation_string":"5G+Industrial Internet Institute, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I80947539"]},{"raw_affiliation_string":"College of Electrical Engineering and Automation, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100442847","display_name":"Nan Chen","orcid":"https://orcid.org/0000-0002-2040-9239"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nan Chen","raw_affiliation_strings":["5G+Industrial Internet Institute, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China","College of Electrical Engineering and Automation, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China"],"raw_orcid":"https://orcid.org/0000-0002-2040-9239","affiliations":[{"raw_affiliation_string":"5G+Industrial Internet Institute, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I80947539"]},{"raw_affiliation_string":"College of Electrical Engineering and Automation, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100721362","display_name":"Yutao Chen","orcid":"https://orcid.org/0000-0001-6748-2866"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yutao Chen","raw_affiliation_strings":["5G+Industrial Internet Institute, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China","College of Electrical Engineering and Automation, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China"],"raw_orcid":"https://orcid.org/0000-0001-6748-2866","affiliations":[{"raw_affiliation_string":"5G+Industrial Internet Institute, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I80947539"]},{"raw_affiliation_string":"College of Electrical Engineering and Automation, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062697728","display_name":"Dingci Lin","orcid":"https://orcid.org/0009-0000-7779-5225"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dingci Lin","raw_affiliation_strings":["5G+Industrial Internet Institute, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China"],"raw_orcid":"https://orcid.org/0009-0000-7779-5225","affiliations":[{"raw_affiliation_string":"5G+Industrial Internet Institute, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I80947539"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5021068534"],"corresponding_institution_ids":["https://openalex.org/I80947539"],"apc_list":null,"apc_paid":null,"fwci":0.3834,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.61892884,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"13","issue":"01","first_page":"211","last_page":"231"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.977400004863739,"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":0.977400004863739,"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/T12158","display_name":"Guidance and Control Systems","score":0.9182999730110168,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/differential-game","display_name":"Differential game","score":0.7142449617385864},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6578368544578552},{"id":"https://openalex.org/keywords/nash-equilibrium","display_name":"Nash equilibrium","score":0.6556724309921265},{"id":"https://openalex.org/keywords/best-response","display_name":"Best response","score":0.486030638217926},{"id":"https://openalex.org/keywords/differential-inclusion","display_name":"Differential inclusion","score":0.4786045253276825},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47153741121292114},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.43919456005096436},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.42727139592170715},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.41234320402145386},{"id":"https://openalex.org/keywords/dwell-time","display_name":"Dwell time","score":0.41061779856681824},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3984944522380829},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3748950958251953},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20336973667144775},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11520311236381531},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10236549377441406}],"concepts":[{"id":"https://openalex.org/C2779006483","wikidata":"https://www.wikidata.org/wiki/Q1973196","display_name":"Differential game","level":2,"score":0.7142449617385864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6578368544578552},{"id":"https://openalex.org/C46814582","wikidata":"https://www.wikidata.org/wiki/Q23389","display_name":"Nash equilibrium","level":2,"score":0.6556724309921265},{"id":"https://openalex.org/C32407928","wikidata":"https://www.wikidata.org/wiki/Q2733833","display_name":"Best response","level":3,"score":0.486030638217926},{"id":"https://openalex.org/C70834904","wikidata":"https://www.wikidata.org/wiki/Q1054638","display_name":"Differential inclusion","level":2,"score":0.4786045253276825},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47153741121292114},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.43919456005096436},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.42727139592170715},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.41234320402145386},{"id":"https://openalex.org/C151637689","wikidata":"https://www.wikidata.org/wiki/Q5318064","display_name":"Dwell time","level":2,"score":0.41061779856681824},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3984944522380829},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3748950958251953},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20336973667144775},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11520311236381531},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10236549377441406},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C70410870","wikidata":"https://www.wikidata.org/wiki/Q199906","display_name":"Clinical psychology","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s230138502550013x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s230138502550013x","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2797167985","display_name":null,"funder_award_id":"61603094","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":28,"referenced_works":["https://openalex.org/W1501032615","https://openalex.org/W1511476864","https://openalex.org/W1514789495","https://openalex.org/W1572306923","https://openalex.org/W1983523909","https://openalex.org/W2010674941","https://openalex.org/W2081747647","https://openalex.org/W2107306424","https://openalex.org/W2108383324","https://openalex.org/W2555485441","https://openalex.org/W2608634483","https://openalex.org/W2780814805","https://openalex.org/W2895894648","https://openalex.org/W2909958776","https://openalex.org/W2938228337","https://openalex.org/W2945511679","https://openalex.org/W3042649591","https://openalex.org/W3093328126","https://openalex.org/W3118268055","https://openalex.org/W3121982480","https://openalex.org/W3179153884","https://openalex.org/W3197787153","https://openalex.org/W3208542557","https://openalex.org/W4200341291","https://openalex.org/W4292245553","https://openalex.org/W4295960902","https://openalex.org/W4296119079","https://openalex.org/W4317603827"],"related_works":["https://openalex.org/W2898247383","https://openalex.org/W1977953789","https://openalex.org/W2152564765","https://openalex.org/W633869025","https://openalex.org/W2090389138","https://openalex.org/W2007903413","https://openalex.org/W2606062883","https://openalex.org/W2966405498","https://openalex.org/W4249020370","https://openalex.org/W2981965071"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3,105,123],"efficient":[4],"fast-optimal":[5],"balanced":[6],"differential":[7,31,71,120],"game":[8,32,41,72,121],"(DG)":[9],"approach":[10,37],"to":[11,26,43,129,138,164,180],"address":[12],"the":[13,35,61,64,110,114,131,145,151,159,165,169,182,188,191],"formation":[14,53],"control":[15],"problem":[16,65],"in":[17],"dynamic":[18],"environments":[19],"for":[20,109],"networked":[21],"multi-agent":[22],"systems":[23],"(MASs).":[24],"Compared":[25],"existing":[27],"receding":[28,118],"horizon":[29,119],"distributed":[30,70,80],"(RH-DDG)":[33],"approaches,":[34],"proposed":[36,192],"employs":[38],"a":[39,50,69,92,99,117,173],"two-layer":[40],"structure":[42],"balance":[44],"optimality":[45],"and":[46,57,172],"real-time":[47,152],"performance,":[48],"with":[49,98,122],"focus":[51],"on":[52],"control,":[54],"collision":[55],"avoidance":[56],"obstacle":[58],"avoidance.":[59],"In":[60,113],"offline":[62,166],"layer,":[63,116],"is":[66,127,148,178],"converted":[67],"into":[68],"(DDG)":[73],"where":[74],"each":[75,89],"agent":[76,90],"computes":[77],"strategies":[78,142,162],"using":[79],"information":[81],"from":[82],"locally":[83],"neighboring":[84],"agents.":[85],"The":[86],"strategy":[87],"of":[88,190],"self-enforces":[91],"unique":[93],"global":[94],"Nash":[95,141,161],"equilibrium":[96],"(G-NE)":[97],"strongly":[100],"connected":[101],"communication":[102],"topology,":[103],"providing":[104],"optimal":[106],"reference":[107],"trajectory":[108],"online":[111,115,140,160],"game.":[112],"event-trigger":[124],"mechanism":[125],"(RH-DGET)":[126],"presented":[128],"track":[130],"G-NE":[132,167],"trajectory.":[133],"Ego":[134],"players":[135],"are":[136],"triggered":[137],"update":[139],"only":[143],"when":[144],"event-triggering":[146],"condition":[147,177],"satisfied,":[149],"ensuring":[150],"safety":[153],"certificate.":[154],"Rigorous":[155],"proofs":[156],"demonstrate":[157],"that":[158],"converge":[163],"until":[168],"trigger":[170],"ends,":[171],"certain":[174],"dwell":[175],"time":[176],"given":[179],"prevent":[181],"Zeno":[183],"behavior.":[184],"Simulation":[185],"results":[186],"validate":[187],"effectiveness":[189],"approach.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-27T09:02:27.158192","created_date":"2025-10-10T00:00:00"}
