{"id":"https://openalex.org/W2921239100","doi":"https://doi.org/10.1142/s2196888819500131","title":"Formation Control of Swarm Robots Using Mobile Agents","display_name":"Formation Control of Swarm Robots Using Mobile Agents","publication_year":2019,"publication_date":"2019-03-11","ids":{"openalex":"https://openalex.org/W2921239100","doi":"https://doi.org/10.1142/s2196888819500131","mag":"2921239100"},"language":"en","primary_location":{"id":"doi:10.1142/s2196888819500131","is_oa":true,"landing_page_url":"https://doi.org/10.1142/s2196888819500131","pdf_url":"https://www.worldscientific.com/doi/pdf/10.1142/S2196888819500131","source":{"id":"https://openalex.org/S2486636169","display_name":"Vietnam Journal of Computer Science","issn_l":"2196-8888","issn":["2196-8888","2196-8896"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Vietnam Journal of Computer Science","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://www.worldscientific.com/doi/pdf/10.1142/S2196888819500131","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103434793","display_name":"Yasushi Kambayashi","orcid":null},"institutions":[{"id":"https://openalex.org/I95053508","display_name":"Nippon Institute of Technology","ror":"https://ror.org/05h68bp56","country_code":"JP","type":"education","lineage":["https://openalex.org/I95053508"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yasushi Kambayashi","raw_affiliation_strings":["Department of Computer and Information Engineering, Nippon Institute of Technology, 4-1 Gakuendai, Miyashiro, Saitama 345-8501, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Engineering, Nippon Institute of Technology, 4-1 Gakuendai, Miyashiro, Saitama 345-8501, Japan","institution_ids":["https://openalex.org/I95053508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015992663","display_name":"Hideaki Yajima","orcid":null},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hideaki Yajima","raw_affiliation_strings":["Department of Information Sciences, Tokyo University of Science, 2641 Yamazaki Noda, Chiba 278-8510, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Information Sciences, Tokyo University of Science, 2641 Yamazaki Noda, Chiba 278-8510, Japan","institution_ids":["https://openalex.org/I161296585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070186747","display_name":"Tadashi Shyoji","orcid":null},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tadashi Shyoji","raw_affiliation_strings":["Department of Information Sciences, Tokyo University of Science, 2641 Yamazaki Noda, Chiba 278-8510, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Information Sciences, Tokyo University of Science, 2641 Yamazaki Noda, Chiba 278-8510, Japan","institution_ids":["https://openalex.org/I161296585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089121242","display_name":"Ryotaro Oikawa","orcid":null},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryotaro Oikawa","raw_affiliation_strings":["Department of Information Sciences, Tokyo University of Science, 2641 Yamazaki Noda, Chiba 278-8510, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Information Sciences, Tokyo University of Science, 2641 Yamazaki Noda, Chiba 278-8510, Japan","institution_ids":["https://openalex.org/I161296585"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113482804","display_name":"Munehiro Takimoto","orcid":null},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Munehiro Takimoto","raw_affiliation_strings":["Department of Information Sciences, Tokyo University of Science, 2641 Yamazaki Noda, Chiba 278-8510, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Information Sciences, Tokyo University of Science, 2641 Yamazaki Noda, Chiba 278-8510, Japan","institution_ids":["https://openalex.org/I161296585"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5103434793"],"corresponding_institution_ids":["https://openalex.org/I95053508"],"apc_list":null,"apc_paid":null,"fwci":2.2291,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.88801155,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"06","issue":"02","first_page":"193","last_page":"222"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12203","display_name":"Mobile Agent-Based Network Management","score":0.9972000122070312,"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/ant-robotics","display_name":"Ant robotics","score":0.8112770318984985},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7273950576782227},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.698710024356842},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6908988952636719},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.6035040616989136},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.579843282699585},{"id":"https://openalex.org/keywords/software-agent","display_name":"Software agent","score":0.5454954504966736},{"id":"https://openalex.org/keywords/swarm-intelligence","display_name":"Swarm intelligence","score":0.490520179271698},{"id":"https://openalex.org/keywords/ant-colony-optimization-algorithms","display_name":"Ant colony optimization algorithms","score":0.48727452754974365},{"id":"https://openalex.org/keywords/mobile-agent","display_name":"Mobile agent","score":0.4615710973739624},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.46033769845962524},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.44822412729263306},{"id":"https://openalex.org/keywords/ant-colony","display_name":"Ant colony","score":0.4148092567920685},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4144189953804016},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.36854904890060425},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.08268636465072632},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.07431060075759888}],"concepts":[{"id":"https://openalex.org/C44832474","wikidata":"https://www.wikidata.org/wiki/Q4770870","display_name":"Ant robotics","level":5,"score":0.8112770318984985},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7273950576782227},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.698710024356842},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6908988952636719},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.6035040616989136},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.579843282699585},{"id":"https://openalex.org/C5894958","wikidata":"https://www.wikidata.org/wiki/Q2297769","display_name":"Software agent","level":2,"score":0.5454954504966736},{"id":"https://openalex.org/C119487961","wikidata":"https://www.wikidata.org/wiki/Q863960","display_name":"Swarm intelligence","level":3,"score":0.490520179271698},{"id":"https://openalex.org/C40128228","wikidata":"https://www.wikidata.org/wiki/Q460851","display_name":"Ant colony optimization algorithms","level":2,"score":0.48727452754974365},{"id":"https://openalex.org/C84875433","wikidata":"https://www.wikidata.org/wiki/Q3277848","display_name":"Mobile agent","level":2,"score":0.4615710973739624},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.46033769845962524},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.44822412729263306},{"id":"https://openalex.org/C60891933","wikidata":"https://www.wikidata.org/wiki/Q796575","display_name":"Ant colony","level":3,"score":0.4148092567920685},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4144189953804016},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.36854904890060425},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.08268636465072632},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.07431060075759888},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1142/s2196888819500131","is_oa":true,"landing_page_url":"https://doi.org/10.1142/s2196888819500131","pdf_url":"https://www.worldscientific.com/doi/pdf/10.1142/S2196888819500131","source":{"id":"https://openalex.org/S2486636169","display_name":"Vietnam Journal of Computer Science","issn_l":"2196-8888","issn":["2196-8888","2196-8896"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Vietnam Journal of Computer Science","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:58aaa887efdf480c967ed243e7e4d7f1","is_oa":true,"landing_page_url":"https://doaj.org/article/58aaa887efdf480c967ed243e7e4d7f1","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Vietnam Journal of Computer Science, Vol 6, Iss 2, Pp 193-222 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1142/s2196888819500131","is_oa":true,"landing_page_url":"https://doi.org/10.1142/s2196888819500131","pdf_url":"https://www.worldscientific.com/doi/pdf/10.1142/S2196888819500131","source":{"id":"https://openalex.org/S2486636169","display_name":"Vietnam Journal of Computer Science","issn_l":"2196-8888","issn":["2196-8888","2196-8896"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Vietnam Journal of Computer Science","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1772599649","display_name":"A Study of Multi-Robot Control System with Mobile Agents Based on PSO","funder_award_id":"17K01304","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G3095016204","display_name":"\u9ad8\u5ea6\u6d44\u5316\u306b\u3088\u308a\u4e0b\u6c34\u306e\u9084\u5143\u5229\u7528\u306b\u95a2\u3059\u308b\u7814\u7a76","funder_award_id":"50076","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G3236194794","display_name":null,"funder_award_id":"Grant-in-Aid","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G3913958712","display_name":"A study on establishing ad-hoc network using mobile agents and multi-robot system","funder_award_id":"26350456","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G710019459","display_name":"\u5f37\u5236\u6d41\u52d5\u4e26\u5217\u84b8\u767a\u7ba1\u7cfb\u306b\u304a\u3051\u308b\u904e\u5ea6\u7279\u6027\u306b\u95a2\u3059\u308b\u7814\u7a76","funder_award_id":"35045","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G7337825077","display_name":null,"funder_award_id":"Grant-in-Aid for Sc","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G7886645327","display_name":"\u30b0\u30a2\u30cb\u30b8\u30f3\u304a\u3088\u3073\u30a2\u30df\u30b8\u30f3\u7cfb\u5316\u5408\u7269\u306e\u85ac\u7269\u5b66\u7684\u7814\u7a76","funder_award_id":"75007","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G8012470771","display_name":"\u7a7a\u6c17\u4e2d\u306e\u9ef4( Aspfumigatus CH 413)\u306e\u4ee3\u8b1d\u7523\u7269\u306b\u3064\u3044\u3066","funder_award_id":"750076","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G883283772","display_name":null,"funder_award_id":"26750076","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2921239100.pdf","grobid_xml":"https://content.openalex.org/works/W2921239100.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W20696179","https://openalex.org/W81919605","https://openalex.org/W93645818","https://openalex.org/W109224618","https://openalex.org/W110496375","https://openalex.org/W164347145","https://openalex.org/W1486591347","https://openalex.org/W1512313081","https://openalex.org/W1517023801","https://openalex.org/W1530490667","https://openalex.org/W1572355825","https://openalex.org/W1573323347","https://openalex.org/W1574036760","https://openalex.org/W1588299616","https://openalex.org/W1697277360","https://openalex.org/W1854397835","https://openalex.org/W1972218541","https://openalex.org/W1994214899","https://openalex.org/W1996542214","https://openalex.org/W2027074005","https://openalex.org/W2037567262","https://openalex.org/W2038957733","https://openalex.org/W2108046988","https://openalex.org/W2119120935","https://openalex.org/W2126549689","https://openalex.org/W2127826644","https://openalex.org/W2131253923","https://openalex.org/W2142114584","https://openalex.org/W2151144155","https://openalex.org/W2154929945","https://openalex.org/W2164330600","https://openalex.org/W2165413656","https://openalex.org/W2166462345","https://openalex.org/W2167808548","https://openalex.org/W2167880800","https://openalex.org/W2296064575","https://openalex.org/W2499339622","https://openalex.org/W2790349036","https://openalex.org/W2963555067","https://openalex.org/W2964211993","https://openalex.org/W3083845823","https://openalex.org/W4243386470","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W4308703632","https://openalex.org/W4361018867","https://openalex.org/W1874218954","https://openalex.org/W2983970111","https://openalex.org/W1981609420","https://openalex.org/W65954170","https://openalex.org/W4207000212","https://openalex.org/W2093282337","https://openalex.org/W2348071873","https://openalex.org/W2789344126"],"abstract_inverted_index":{"In":[0,117,198],"this":[1],"paper,":[2],"we":[3,122],"propose":[4],"an":[5,188],"algorithm":[6,40,281],"for":[7,115,182,226],"controlling":[8],"a":[9,77,108,184,227,234,276],"fleet":[10],"of":[11,100,195,252,260,269],"swarm":[12,19,93,162],"robots":[13,20,52,75,142,163],"that":[14,53,67,138,151,190,243,289],"construct":[15],"three-dimensional":[16],"forms.":[17],"The":[18,157,286],"coordinate":[21],"with":[22],"each":[23,209],"other":[24,74,149],"through":[25,43,76],"network":[26,79],"communication,":[27],"and":[28,80,112,126,146,215,256,263,282,297],"compose":[29],"formations":[30],"such":[31],"as":[32,35,85,128,143,154],"polyhedrons":[33],"presented":[34],"spherical":[36],"coordinates.":[37],"Our":[38],"control":[39,49,83,120,186,293],"achieves":[41],"communication":[42,78,153],"mobile":[44,129,135,141,291],"software":[45,62,130,136],"agents,":[46,145],"which":[47],"introduce":[48],"programs":[50,84],"to":[51,73,96,164,200,218,231],"initially":[54],"have":[55,90,123,274],"no":[56,180],"information":[57,204],"about":[58],"the":[59,98,101,134,140,148,161,168,192,196,202,206,219,240,246,250,253,257,267,270],"formation.":[60,197,272],"Mobile":[61],"agents":[63,137,150,159,214,262,265],"are":[64,87],"autonomous":[65],"objects":[66],"can":[68,81],"migrate":[69],"from":[70],"one":[71],"robot":[72,94,119,247,292],"deliver":[82],"they":[86],"needed.":[88],"We":[89,132,273],"made":[91],"our":[92,118,280,290],"system":[95,294],"mimic":[97],"behaviors":[99],"leafcutter":[102,105],"ants.":[103],"A":[104],"ant":[106,144,158,172,210,229,241,261],"is":[107,179,239,295],"typical":[109],"social":[110],"insect":[111],"uses":[113],"pheromone":[114,155,169,213,223,254,264],"communication.":[116],"system,":[121],"implemented":[124,275],"ants":[125],"pheromones":[127],"agents.":[131,156,170],"call":[133,147],"drive":[139,160],"provide":[152],"locations":[165],"identified":[166],"by":[167,248],"Each":[171],"agent":[173,189,211,224,230,242],"has":[174,191],"only":[175],"partial":[176,203],"information.":[177],"There":[178],"need":[181],"either":[183],"central":[185],"or":[187],"entire":[193],"design":[194],"order":[199],"diffuse":[201],"among":[205],"neighboring":[207],"robots,":[208],"generates":[212],"dispatches":[216],"them":[217],"surrounding":[220],"robots.":[221],"Dispatched":[222],"looks":[225],"proper":[228],"influence":[232],"towards":[233],"desired":[235],"relative":[236],"location.":[237],"It":[238],"actually":[244],"drives":[245],"following":[249],"guidance":[251],"agent,":[255],"collective":[258],"actions":[259],"achieve":[266],"composition":[268],"objective":[271],"simulator":[277],"based":[278],"on":[279],"conducted":[283],"numerical":[284],"experiments.":[285],"results":[287],"demonstrate":[288],"feasible":[296],"efficient":[298],"in":[299,301],"practice":[300],"practical":[302],"situations.":[303]},"counts_by_year":[{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}