{"id":"https://openalex.org/W2063596703","doi":"https://doi.org/10.1177/0278364912469671","title":"A passivity-based decentralized strategy for generalized connectivity maintenance","display_name":"A passivity-based decentralized strategy for generalized connectivity maintenance","publication_year":2013,"publication_date":"2013-03-01","ids":{"openalex":"https://openalex.org/W2063596703","doi":"https://doi.org/10.1177/0278364912469671","mag":"2063596703"},"language":"en","primary_location":{"id":"doi:10.1177/0278364912469671","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364912469671","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"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":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11380/855289","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067595490","display_name":"Paolo Robuffo Giordano","orcid":"https://orcid.org/0000-0001-6919-7751"},"institutions":[{"id":"https://openalex.org/I4210112925","display_name":"Max Planck Institute for Biological Cybernetics","ror":"https://ror.org/026nmvv73","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210112925"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Paolo Robuffo Giordano","raw_affiliation_strings":["Max Planck Institute for Biological Cybernetics, T\u00fcbingen, Germany","Lagadic - Visual servoing in robotics, computer vision, and augmented reality (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Biological Cybernetics, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210112925"]},{"raw_affiliation_string":"Lagadic - Visual servoing in robotics, computer vision, and augmented reality (France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001771133","display_name":"Antonio Franchi","orcid":"https://orcid.org/0000-0002-5670-1282"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Franchi","raw_affiliation_strings":["Department of Science and Methods of Engineering, University of Modena and Reggio Emilia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Science and Methods of Engineering, University of Modena and Reggio Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032100434","display_name":"Cristian Secchi","orcid":"https://orcid.org/0000-0002-2098-0099"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cristian Secchi","raw_affiliation_strings":["Department of Science and Methods of Engineering, University of Modena and Reggio Emilia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Science and Methods of Engineering, University of Modena and Reggio Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000138876","display_name":"HH B\u00fclthoff","orcid":"https://orcid.org/0000-0003-2568-0607"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]},{"id":"https://openalex.org/I4210112925","display_name":"Max Planck Institute for Biological Cybernetics","ror":"https://ror.org/026nmvv73","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210112925"]}],"countries":["DE","KR"],"is_corresponding":false,"raw_author_name":"Heinrich H B\u00fclthoff","raw_affiliation_strings":["Department of Brain and Cognitive Engineering, Korea University, Anam-dong, Seongbuk-gu, Seoul, Korea","Max Planck Institute for Biological Cybernetics, T\u00fcbingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Brain and Cognitive Engineering, Korea University, Anam-dong, Seongbuk-gu, Seoul, Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"Max Planck Institute for Biological Cybernetics, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210112925"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5067595490"],"corresponding_institution_ids":["https://openalex.org/I4210112925"],"apc_list":null,"apc_paid":null,"fwci":16.2163,"has_fulltext":false,"cited_by_count":165,"citation_normalized_percentile":{"value":0.99210154,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"32","issue":"3","first_page":"299","last_page":"323"},"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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9803000092506409,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9724000096321106,"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/robot","display_name":"Robot","score":0.6031335592269897},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5866289734840393},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5674359798431396},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5485700368881226},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.5284385681152344},{"id":"https://openalex.org/keywords/laplacian-matrix","display_name":"Laplacian matrix","score":0.46902385354042053},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4602133333683014},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.4517173767089844},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4230750799179077},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3750828206539154},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.33339065313339233},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2874669134616852},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.269174724817276},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.18403947353363037},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14133915305137634}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6031335592269897},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5866289734840393},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5674359798431396},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5485700368881226},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.5284385681152344},{"id":"https://openalex.org/C115178988","wikidata":"https://www.wikidata.org/wiki/Q772067","display_name":"Laplacian matrix","level":3,"score":0.46902385354042053},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4602133333683014},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.4517173767089844},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4230750799179077},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3750828206539154},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.33339065313339233},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2874669134616852},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.269174724817276},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.18403947353363037},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14133915305137634},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1177/0278364912469671","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364912469671","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"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":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.421.2162","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.421.2162","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.irisa.fr/lagadic/pdf/2013_ijrr_robuffogiordano.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.683.6921","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.683.6921","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.kyb.tuebingen.mpg.de/fileadmin/user_upload/files/publications/2013/2013l-RobFraSecBue-preprint.pdf","raw_type":"text"},{"id":"pmh:oai:HAL:hal-00910385v1","is_oa":false,"landing_page_url":"https://inria.hal.science/hal-00910385","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"The International Journal of Robotics Research, 2013, 32 (3), pp.299-323. &#x27E8;10.1177/0278364912469671&#x27E9;","raw_type":"Journal articles"},{"id":"pmh:oai:iris.unimore.it:11380/855289","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/855289","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:iris.unimore.it:11380/855289","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/855289","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W10122510","https://openalex.org/W77768530","https://openalex.org/W127505597","https://openalex.org/W613360614","https://openalex.org/W1522692516","https://openalex.org/W1526120274","https://openalex.org/W1548148540","https://openalex.org/W1587744656","https://openalex.org/W1974676331","https://openalex.org/W1990186220","https://openalex.org/W2006501180","https://openalex.org/W2012807278","https://openalex.org/W2015160759","https://openalex.org/W2019592229","https://openalex.org/W2021429920","https://openalex.org/W2023080842","https://openalex.org/W2025421018","https://openalex.org/W2028492326","https://openalex.org/W2036458279","https://openalex.org/W2044437309","https://openalex.org/W2048270103","https://openalex.org/W2056371542","https://openalex.org/W2065297540","https://openalex.org/W2066074119","https://openalex.org/W2070113904","https://openalex.org/W2070842753","https://openalex.org/W2071935905","https://openalex.org/W2074032690","https://openalex.org/W2093553661","https://openalex.org/W2098656877","https://openalex.org/W2100920791","https://openalex.org/W2103641605","https://openalex.org/W2104275118","https://openalex.org/W2105850748","https://openalex.org/W2116822311","https://openalex.org/W2118941026","https://openalex.org/W2130647945","https://openalex.org/W2132664688","https://openalex.org/W2142380406","https://openalex.org/W2144354132","https://openalex.org/W2144752369","https://openalex.org/W2147125977","https://openalex.org/W2152244994","https://openalex.org/W2159411986","https://openalex.org/W2160643434","https://openalex.org/W2165546443","https://openalex.org/W2169239645","https://openalex.org/W2470235696","https://openalex.org/W2619766090","https://openalex.org/W4234650136","https://openalex.org/W4242073862","https://openalex.org/W4255909237","https://openalex.org/W4308575943"],"related_works":["https://openalex.org/W2389214306","https://openalex.org/W2965083567","https://openalex.org/W4235240664","https://openalex.org/W1838576100","https://openalex.org/W2095886385","https://openalex.org/W2889616422","https://openalex.org/W2064720525","https://openalex.org/W2111125783","https://openalex.org/W2358735393","https://openalex.org/W2152244994"],"abstract_inverted_index":{"The":[0,68],"design":[1],"of":[2,30,37,70,88,110,125,144,154,184,191,208,217,243],"decentralized":[3,78,200],"controllers":[4],"coping":[5],"with":[6,214,231],"the":[7,11,24,38,101,149,152,185,192,241],"typical":[8],"constraints":[9,145],"on":[10,206,246],"inter-robot":[12,156],"sensing/communication":[13,157],"capabilities":[14],"represents":[15,47],"a":[16,43,48,53,59,76,86,91,136,141,179,199,202,215,247],"promising":[17],"direction":[18],"in":[19,90,198],"multi-robot":[20],"research":[21],"thanks":[22],"to":[23,57,64,74,81,100,107,133,238],"inherent":[25],"scalability":[26],"and":[27,146,166,195,223,227],"fault":[28],"tolerance":[29],"these":[31,34],"approaches.":[32],"In":[33],"cases,":[35],"connectivity":[36,83,119,138],"underlying":[39],"interaction":[40,111],"graph":[41,193],"plays":[42],"fundamental":[44],"role:":[45],"it":[46],"necessary":[49],"condition":[50],"for":[51,85,148],"allowing":[52],"group":[54,87,102,160,216],"or":[55],"robots":[56,89],"achieve":[58],"common":[60],"task":[61],"by":[62,96,177,196],"resorting":[63],"only":[65],"local":[66],"information.":[67],"goal":[69],"this":[71,209],"paper":[72],"is":[73,120,128,175],"present":[75],"novel":[77],"strategy":[79],"able":[80,132],"enforce":[82],"maintenance":[84],"flexible":[92],"way,":[93,201],"that":[94,129],"is,":[95],"granting":[97],"large":[98,142],"freedom":[99],"internal":[103],"configuration":[104],"so":[105],"as":[106,115,117,163,171],"allow":[108],"establishment/deletion":[109],"links":[112],"at":[113],"anytime":[114],"long":[116],"global":[118,181],"preserved.":[121],"A":[122],"peculiar":[123],"feature":[124],"our":[126,244],"approach":[127,245],"we":[130],"are":[131,235],"embed":[134],"into":[135],"unique":[137],"preserving":[139],"action":[140],"number":[143],"requirements":[147,161,169],"group:":[150],"(i)":[151],"presence":[153],"specific":[155],"models;":[158],"(ii)":[159],"such":[162,170],"formation":[164],"control;":[165],"(iii)":[167],"individual":[168],"collision":[172],"avoidance.":[173],"This":[174],"achieved":[176],"defining":[178],"suitable":[180],"potential":[182],"function":[183],"second":[186],"smallest":[187],"eigenvalue":[188],"\u03bb":[189],"2":[190],"Laplacian,":[194],"computing,":[197],"gradient-like":[203],"controller":[204],"built":[205],"top":[207],"potential.":[210],"Simulation":[211],"results":[212,229],"obtained":[213,230],"quadrotor":[218,233],"unmanned":[219,224],"aerial":[220],"vehicles":[221],"(UAVs)":[222],"ground":[225],"vehicles,":[226],"experimental":[228],"four":[232],"UAVs,":[234],"finally":[236],"presented":[237],"thoroughly":[239],"illustrate":[240],"features":[242],"concrete":[248],"case":[249],"study.":[250]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":22},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":27},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":14},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":11},{"year":2013,"cited_by_count":7}],"updated_date":"2026-05-08T15:41:06.802602","created_date":"2025-10-10T00:00:00"}
