{"id":"https://openalex.org/W2972363806","doi":"https://doi.org/10.23919/acc.2019.8814391","title":"Leaderless Consensus-based Formation Control of Multiple Nonholonomic Mobile Robots with Interconnecting Delays","display_name":"Leaderless Consensus-based Formation Control of Multiple Nonholonomic Mobile Robots with Interconnecting Delays","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2972363806","doi":"https://doi.org/10.23919/acc.2019.8814391","mag":"2972363806"},"language":"en","primary_location":{"id":"doi:10.23919/acc.2019.8814391","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2019.8814391","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-02367891","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019190125","display_name":"Emmanuel Nu\u00f1o","orcid":"https://orcid.org/0000-0003-2058-4579"},"institutions":[{"id":"https://openalex.org/I193181351","display_name":"Universidad de Guadalajara","ror":"https://ror.org/043xj7k26","country_code":"MX","type":"education","lineage":["https://openalex.org/I193181351"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Emmanuel Nuno","raw_affiliation_strings":["Department of Computer Science, University of Guadalajara, Guadalajara, Mexico"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Guadalajara, Guadalajara, Mexico","institution_ids":["https://openalex.org/I193181351"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110636485","display_name":"Tonatiuh Henandez","orcid":null},"institutions":[{"id":"https://openalex.org/I193181351","display_name":"Universidad de Guadalajara","ror":"https://ror.org/043xj7k26","country_code":"MX","type":"education","lineage":["https://openalex.org/I193181351"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Tonatiuh Henandez","raw_affiliation_strings":["Department of Computer Science, University of Guadalajara, Guadalajara, Mexico"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Guadalajara, Guadalajara, Mexico","institution_ids":["https://openalex.org/I193181351"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010463609","display_name":"Mohamed Maghenem","orcid":"https://orcid.org/0000-0002-8746-9375"},"institutions":[{"id":"https://openalex.org/I185103710","display_name":"University of California, Santa Cruz","ror":"https://ror.org/03s65by71","country_code":"US","type":"education","lineage":["https://openalex.org/I185103710"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohamed Maghenem","raw_affiliation_strings":["University of California, Santa Cruz, California, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Santa Cruz, California, USA","institution_ids":["https://openalex.org/I185103710"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090052067","display_name":"Antonio Lor\u0131\u0301a","orcid":"https://orcid.org/0000-0003-4223-9397"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Antonio Loria","raw_affiliation_strings":["L2S-CentraleSupelec, CNRS, Gif-sur-Yvette, France"],"affiliations":[{"raw_affiliation_string":"L2S-CentraleSupelec, CNRS, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I4210107720","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036042991","display_name":"Elena Panteley","orcid":"https://orcid.org/0000-0002-4565-9138"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Elena Panteley","raw_affiliation_strings":["L2S-CentraleSupelec, CNRS, Gif-sur-Yvette, France"],"affiliations":[{"raw_affiliation_string":"L2S-CentraleSupelec, CNRS, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I4210107720","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5019190125"],"corresponding_institution_ids":["https://openalex.org/I193181351"],"apc_list":null,"apc_paid":null,"fwci":0.7412,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.74816561,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4659","last_page":"4664"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9855999946594238,"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"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.979200005531311,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8075942993164062},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7730695009231567},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7358596324920654},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.7094372510910034},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.62669438123703},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5946331024169922},{"id":"https://openalex.org/keywords/interconnection","display_name":"Interconnection","score":0.5356440544128418},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5208243131637573},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4317898452281952},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.42922890186309814},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4291076362133026},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42876681685447693},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4239838719367981},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2973509728908539},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2613123655319214},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23200634121894836},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23021528124809265},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11574029922485352},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.057288408279418945}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8075942993164062},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7730695009231567},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7358596324920654},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7094372510910034},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.62669438123703},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5946331024169922},{"id":"https://openalex.org/C123745756","wikidata":"https://www.wikidata.org/wiki/Q1665949","display_name":"Interconnection","level":2,"score":0.5356440544128418},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5208243131637573},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4317898452281952},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.42922890186309814},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4291076362133026},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42876681685447693},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4239838719367981},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2973509728908539},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2613123655319214},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23200634121894836},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23021528124809265},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11574029922485352},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.057288408279418945},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/acc.2019.8814391","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2019.8814391","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 American Control Conference (ACC)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02367891v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02367891","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ACC 2019 - American Control Conference","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02367891v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02367891","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ACC 2019 - American Control Conference","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W851991317","https://openalex.org/W1134107867","https://openalex.org/W2012431946","https://openalex.org/W2077362499","https://openalex.org/W2101503267","https://openalex.org/W2107396783","https://openalex.org/W2115054087","https://openalex.org/W2121426651","https://openalex.org/W2134290383","https://openalex.org/W2138764986","https://openalex.org/W2147326597","https://openalex.org/W2150973821","https://openalex.org/W2152753105","https://openalex.org/W2165744313","https://openalex.org/W2409153374","https://openalex.org/W2533465884","https://openalex.org/W2582979130","https://openalex.org/W2590149767","https://openalex.org/W2726421803","https://openalex.org/W2750611863","https://openalex.org/W2766865620","https://openalex.org/W2899106546"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W1975855728","https://openalex.org/W1981001137","https://openalex.org/W2151627114","https://openalex.org/W2110789704","https://openalex.org/W2075926551","https://openalex.org/W1559401667"],"abstract_inverted_index":{"The":[0,54],"control":[1,8,138],"objective":[2,60,107],"in":[3,26,38,126],"the":[4,13,17,31,44,71,74,105,115,127,134],"leaderless":[5],"consensus-based":[6],"formation":[7,28,35],"is":[9,36,61,83,87],"to":[10,22,50,70,77,118,123,132],"ensure":[11,119],"that":[12,62,65,81,103],"Cartesian":[14],"positions":[15],"of":[16,33,136],"nonholonomic":[18,67],"mobile":[19],"robots":[20,64],"converge":[21,49],"a":[23,27,39,51,95,111],"given":[24],"position":[25],"pattern":[29],"and":[30,108],"barycentre":[32],"such":[34,80],"agreed,":[37],"decentralized":[40],"manner,":[41],"by":[42],"all":[43],"robots,":[45],"while":[46],"their":[47],"orientations":[48],"common":[52],"value.":[53],"main":[55],"problem":[56],"behind":[57],"this":[58,91],"stabilization":[59],"for":[63],"exhibit":[66],"restrictions,":[68],"due":[69],"Brocket's":[72],"condition,":[73],"controller":[75,102],"has":[76],"be":[78],"designed":[79],"it":[82,86],"discontinuous":[84],"or":[85],"non-autonomous":[88],"(time-varying).":[89],"In":[90],"work":[92],"we":[93,109],"propose":[94],"simple":[96],"Proportional":[97],"plus":[98],"damping":[99,116],"(P+d)":[100],"smooth":[101],"solves":[104],"aforementioned":[106],"provide":[110],"sufficient":[112],"condition":[113],"on":[114],"gain":[117],"robustness":[120],"with":[121],"respect":[122],"variable":[124],"time-delays":[125],"interconnection.":[128],"Simulations":[129],"are":[130],"provided":[131],"show":[133],"effectiveness":[135],"our":[137],"proposal.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2020,"cited_by_count":4}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}
