{"id":"https://openalex.org/W2985205319","doi":"https://doi.org/10.1177/0142331219878581","title":"Formation control for multi-UAVs systems based on Kullback-Leibler divergence","display_name":"Formation control for multi-UAVs systems based on Kullback-Leibler divergence","publication_year":2019,"publication_date":"2019-11-10","ids":{"openalex":"https://openalex.org/W2985205319","doi":"https://doi.org/10.1177/0142331219878581","mag":"2985205319"},"language":"en","primary_location":{"id":"doi:10.1177/0142331219878581","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0142331219878581","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","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/A5010842219","display_name":"Wei Liao","orcid":"https://orcid.org/0000-0003-2778-0572"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Liao","raw_affiliation_strings":["Key laboratory of Fundamental Science for National Defense-Advanced Design Technology of Flight Vehicle, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China"],"raw_orcid":"https://orcid.org/0000-0003-2778-0572","affiliations":[{"raw_affiliation_string":"Key laboratory of Fundamental Science for National Defense-Advanced Design Technology of Flight Vehicle, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010355641","display_name":"Xiaohui Wei","orcid":"https://orcid.org/0000-0001-7160-4838"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaohui Wei","raw_affiliation_strings":["Key laboratory of Fundamental Science for National Defense-Advanced Design Technology of Flight Vehicle, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key laboratory of Fundamental Science for National Defense-Advanced Design Technology of Flight Vehicle, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003117434","display_name":"Jizhou Lai","orcid":"https://orcid.org/0000-0003-2443-5693"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jizhou Lai","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057313995","display_name":"Hao Sun","orcid":"https://orcid.org/0000-0002-9730-0063"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Sun","raw_affiliation_strings":["Key laboratory of Fundamental Science for National Defense-Advanced Design Technology of Flight Vehicle, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key laboratory of Fundamental Science for National Defense-Advanced Design Technology of Flight Vehicle, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5010355641"],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":0.8886,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.77550009,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"42","issue":"3","first_page":"598","last_page":"603"},"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/T11133","display_name":"UAV Applications and Optimization","score":0.9948999881744385,"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"}},{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.982200026512146,"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/divergence","display_name":"Divergence (linguistics)","score":0.8159511089324951},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.7384722232818604},{"id":"https://openalex.org/keywords/kullback\u2013leibler-divergence","display_name":"Kullback\u2013Leibler divergence","score":0.7253317832946777},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.5444165468215942},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5086591839790344},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.486858069896698},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4864156246185303},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.46907371282577515},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4255576729774475},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.35910356044769287},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34006088972091675},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3302538990974426},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1478065550327301},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.08371436595916748},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07985731959342957}],"concepts":[{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.8159511089324951},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.7384722232818604},{"id":"https://openalex.org/C171752962","wikidata":"https://www.wikidata.org/wiki/Q255166","display_name":"Kullback\u2013Leibler divergence","level":2,"score":0.7253317832946777},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.5444165468215942},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5086591839790344},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.486858069896698},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4864156246185303},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.46907371282577515},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4255576729774475},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35910356044769287},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34006088972091675},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3302538990974426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1478065550327301},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.08371436595916748},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07985731959342957},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0142331219878581","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0142331219878581","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1635192251","https://openalex.org/W1965555277","https://openalex.org/W1987604987","https://openalex.org/W1989746389","https://openalex.org/W2003446166","https://openalex.org/W2015886329","https://openalex.org/W2026661126","https://openalex.org/W2038804617","https://openalex.org/W2042733674","https://openalex.org/W2060013224","https://openalex.org/W2067707207","https://openalex.org/W2086175709","https://openalex.org/W2130952857","https://openalex.org/W2141070637","https://openalex.org/W2243755405","https://openalex.org/W2248946215","https://openalex.org/W2484117929","https://openalex.org/W2797795621","https://openalex.org/W2905987802","https://openalex.org/W3016005719"],"related_works":["https://openalex.org/W2105321464","https://openalex.org/W2887774187","https://openalex.org/W2388220555","https://openalex.org/W1554844486","https://openalex.org/W1520875569","https://openalex.org/W3048739257","https://openalex.org/W1665563134","https://openalex.org/W2963604926","https://openalex.org/W2067142008","https://openalex.org/W2199957582"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,48,64,133,137],"formation":[4,28,50,55,152,161],"control":[5,164],"method":[6,40,122],"for":[7,96],"multi":[8],"unmanned":[9],"aerial":[10],"vehicles":[11],"(UAVs)":[12],"systems.":[13],"The":[14,74],"first":[15],"step":[16],"is":[17,41,79,90,123],"to":[18,25,43,47,93,100,104,125,128,141,158],"design":[19],"two":[20,109],"probability":[21],"density":[22],"functions":[23],"describing":[24],"the":[26,36,45,53,61,70,112,115,120,143,146,151,154,159,163],"desired":[27,49,54,160],"and":[29,51,99,136],"current":[30],"formation,":[31],"respectively.":[32],"Then,":[33],"through":[34],"minimizing":[35],"Kullback-Leibler":[37,77],"divergence,":[38],"this":[39,118,168],"able":[42],"bring":[44],"UAVs":[46,67,110,155],"stabilizes":[52],"in":[56,69,132,167],"all":[57],"initial":[58,72],"conditions":[59],"except":[60],"case":[62],"where":[63],"pair":[65],"of":[66,76,87,117,145,153],"are":[68],"same":[71],"position.":[73],"gradient":[75],"divergence":[78],"calculated":[80],"using":[81],"Monte":[82],"Carlo":[83],"method,":[84],"by":[85],"means":[86],"which":[88],"it":[89],"not":[91],"necessary":[92],"preplan":[94],"route":[95],"every":[97],"UAV":[98],"take":[101],"extra":[102],"measure":[103],"avoid":[105],"collisions":[106],"between":[107],"any":[108],"during":[111],"motion.":[113],"At":[114],"end":[116],"paper,":[119],"proposed":[121,166],"adopted":[124],"carry":[126],"out":[127],"some":[129],"numerical":[130],"simulations":[131],"two-dimensional":[134],"space":[135],"three-dimensional":[138],"space,":[139],"respectively,":[140],"illustrate":[142],"effectiveness":[144],"method.":[147],"Conclusions":[148],"show":[149],"that":[150],"can":[156],"converge":[157],"under":[162],"law":[165],"paper.":[169]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}