{"id":"https://openalex.org/W2091756921","doi":"https://doi.org/10.1177/0278364914530482","title":"Coordination and navigation of heterogeneous MAV\u2013UGV formations localized by a \u2018hawk-eye\u2019-like approach under a model predictive control scheme","display_name":"Coordination and navigation of heterogeneous MAV\u2013UGV formations localized by a \u2018hawk-eye\u2019-like approach under a model predictive control scheme","publication_year":2014,"publication_date":"2014-07-24","ids":{"openalex":"https://openalex.org/W2091756921","doi":"https://doi.org/10.1177/0278364914530482","mag":"2091756921"},"language":"en","primary_location":{"id":"doi:10.1177/0278364914530482","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914530482","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":"https://figshare.com/articles/journal_contribution/Coordination_and_navigation_of_heterogeneous_MAV-UGV_formations_localized_by_a_hawk-eye_-like_approach_under_a_model_predictive_control_scheme/24337426","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004992661","display_name":"Martin Saska","orcid":"https://orcid.org/0000-0001-7106-3816"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Martin Saska","raw_affiliation_strings":["Department of Cybernetics, Czech Technical University in Prague, Czech Republic","Department of Cybernetics, Czech Technical University in Prague, Czech Republic#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Czech Technical University in Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Department of Cybernetics, Czech Technical University in Prague, Czech Republic#TAB#","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083101752","display_name":"Vojt\u011bch Von\u00e1sek","orcid":"https://orcid.org/0000-0001-9224-2151"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Vojt\u011bch Von\u00e1sek","raw_affiliation_strings":["Department of Cybernetics, Czech Technical University in Prague, Czech Republic","Department of Cybernetics, Czech Technical University in Prague, Czech Republic#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Czech Technical University in Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Department of Cybernetics, Czech Technical University in Prague, Czech Republic#TAB#","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082772824","display_name":"Tom\u00e1\u0161 Krajn\u00edk","orcid":"https://orcid.org/0000-0002-4408-7916"},"institutions":[{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tom\u00e1\u0161 Krajn\u00edk","raw_affiliation_strings":["Lincoln Centre for Autonomous Systems, School of Computer Science, University of Lincoln, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lincoln Centre for Autonomous Systems, School of Computer Science, University of Lincoln, UK","institution_ids":["https://openalex.org/I51532219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004686576","display_name":"Libor P\u0159eu\u010dil","orcid":"https://orcid.org/0000-0002-4286-3870"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Libor P\u0159eu\u010dil","raw_affiliation_strings":["Department of Cybernetics, Czech Technical University in Prague, Czech Republic","Department of Cybernetics, Czech Technical University in Prague, Czech Republic#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Czech Technical University in Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Department of Cybernetics, Czech Technical University in Prague, Czech Republic#TAB#","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.9315,"has_fulltext":false,"cited_by_count":92,"citation_normalized_percentile":{"value":0.98360977,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"33","issue":"10","first_page":"1393","last_page":"1412"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"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"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9983999729156494,"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/model-predictive-control","display_name":"Model predictive control","score":0.6913487911224365},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5743958950042725},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5298245549201965},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5287266373634338},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5260096788406372},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.5145668387413025},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5096352100372314},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5058419704437256},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4803134799003601},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.42864489555358887},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4242463707923889},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4139476716518402},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38073623180389404},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3610870838165283},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34906846284866333},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.0834704041481018}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6913487911224365},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5743958950042725},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5298245549201965},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5287266373634338},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5260096788406372},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.5145668387413025},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5096352100372314},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5058419704437256},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4803134799003601},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.42864489555358887},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4242463707923889},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4139476716518402},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38073623180389404},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3610870838165283},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34906846284866333},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0834704041481018},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364914530482","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914530482","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:eprints.lincoln.ac.uk:14891","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196275","display_name":"Lincoln Repository (University of Lincoln)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I51532219","host_organization_name":"University of Lincoln","host_organization_lineage":["https://openalex.org/I51532219"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:figshare.com:article/24337426","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Coordination_and_navigation_of_heterogeneous_MAV-UGV_formations_localized_by_a_hawk-eye_-like_approach_under_a_model_predictive_control_scheme/24337426","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"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":"Text"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/24337426","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Coordination_and_navigation_of_heterogeneous_MAV-UGV_formations_localized_by_a_hawk-eye_-like_approach_under_a_model_predictive_control_scheme/24337426","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"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":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W126378795","https://openalex.org/W159183910","https://openalex.org/W1788292158","https://openalex.org/W1967466295","https://openalex.org/W1974534430","https://openalex.org/W1978956894","https://openalex.org/W1980767318","https://openalex.org/W1982947074","https://openalex.org/W1993318927","https://openalex.org/W1994800452","https://openalex.org/W1994970158","https://openalex.org/W1995286048","https://openalex.org/W1996354202","https://openalex.org/W1996542214","https://openalex.org/W1997777091","https://openalex.org/W1998016832","https://openalex.org/W2005389191","https://openalex.org/W2008841231","https://openalex.org/W2010423410","https://openalex.org/W2013582741","https://openalex.org/W2014776084","https://openalex.org/W2028617598","https://openalex.org/W2031888719","https://openalex.org/W2044526330","https://openalex.org/W2056371542","https://openalex.org/W2057658519","https://openalex.org/W2059357989","https://openalex.org/W2065596859","https://openalex.org/W2068352467","https://openalex.org/W2076630652","https://openalex.org/W2077248142","https://openalex.org/W2080444475","https://openalex.org/W2089069623","https://openalex.org/W2091083460","https://openalex.org/W2092332192","https://openalex.org/W2093848766","https://openalex.org/W2098764734","https://openalex.org/W2105850748","https://openalex.org/W2113989886","https://openalex.org/W2115775310","https://openalex.org/W2118592751","https://openalex.org/W2122015500","https://openalex.org/W2133754447","https://openalex.org/W2137530631","https://openalex.org/W2138077845","https://openalex.org/W2142424817","https://openalex.org/W2147928602","https://openalex.org/W2148182166","https://openalex.org/W2153629060","https://openalex.org/W2165413656","https://openalex.org/W2168904841","https://openalex.org/W2294416892","https://openalex.org/W2406624004","https://openalex.org/W2464357232","https://openalex.org/W2810794112","https://openalex.org/W3083391807"],"related_works":["https://openalex.org/W2392812199","https://openalex.org/W4200176076","https://openalex.org/W598185802","https://openalex.org/W2355516524","https://openalex.org/W2361471170","https://openalex.org/W2025616642","https://openalex.org/W1954972543","https://openalex.org/W2954738200","https://openalex.org/W4220843223","https://openalex.org/W4226107239"],"abstract_inverted_index":{"An":[0],"approach":[1,103],"for":[2,41,60,90,118],"coordination":[3],"and":[4,13,73,112,149],"control":[5,74],"of":[6,10,27,34,44,75,99,159],"3D":[7],"heterogeneous":[8],"formations":[9],"unmanned":[11],"aerial":[12,111],"ground":[14,113],"vehicles":[15,94],"under":[16],"hawk-eye-like":[17,124],"relative":[18],"localization":[19],"is":[20,66,88,104,116,129],"presented":[21,127],"in":[22,31,48,95,131,162],"this":[23],"paper.":[24],"The":[25,64,102,126],"core":[26],"the":[28,32,42,45,62,70,86,92,96,100,119,123,139,157,160],"method":[29,65,87,161],"lies":[30],"use":[33],"visual":[35],"top-view":[36],"feedback":[37],"from":[38],"flying":[39],"robots":[40],"stabilization":[43,121],"entire":[46],"group":[47],"a":[49,54,76,80,143],"leader\u2013follower":[50],"formation.":[51,63],"We":[52],"formulate":[53],"novel":[55],"model":[56],"predictive":[57],"control-based":[58],"methodology":[59],"guiding":[61],"employed":[67],"to":[68,106,154],"solve":[69],"trajectory":[71],"planning":[72],"virtual":[77],"leader":[78],"into":[79],"desired":[81,97],"target":[82],"region.":[83],"In":[84,146],"addition,":[85,147],"used":[89],"keeping":[91],"following":[93],"shape":[98],"group.":[101],"designed":[105],"ensure":[107],"direct":[108],"visibility":[109],"between":[110],"vehicles,":[114],"which":[115],"crucial":[117],"formation":[120,140],"using":[122],"approach.":[125],"system":[128],"verified":[130],"numerous":[132],"experiments":[133],"inspired":[134],"by":[135],"search-and-rescue":[136],"applications,":[137],"where":[138],"acts":[141],"as":[142],"searching":[144],"phalanx.":[145],"stability":[148],"convergence":[150],"analyses":[151],"are":[152],"provided":[153],"explicitly":[155],"determine":[156],"limitations":[158],"real-world":[163],"applications.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":20},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":12},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-31T08:31:51.225901","created_date":"2025-10-10T00:00:00"}