{"id":"https://openalex.org/W3131152500","doi":"https://doi.org/10.23919/acc50511.2021.9482946","title":"Communication-free Cohesive Flexible-Object Transport using Decentralized Robot Networks","display_name":"Communication-free Cohesive Flexible-Object Transport using Decentralized Robot Networks","publication_year":2021,"publication_date":"2021-05-25","ids":{"openalex":"https://openalex.org/W3131152500","doi":"https://doi.org/10.23919/acc50511.2021.9482946","mag":"3131152500"},"language":"en","primary_location":{"id":"doi:10.23919/acc50511.2021.9482946","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9482946","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2102.09056","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042730552","display_name":"Yoshua Gombo","orcid":"https://orcid.org/0000-0002-9041-931X"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yoshua Gombo","raw_affiliation_strings":["Department of Mechanical Engineering, University of Washington, Seattle, WA","University of Washington ;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Washington, Seattle, WA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"University of Washington ;","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040086268","display_name":"Anuj Tiwari","orcid":"https://orcid.org/0000-0003-3685-8888"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anuj Tiwari","raw_affiliation_strings":["Department of Mechanical Engineering, University of Washington, Seattle, WA","University of Washington Department of Mechanical Engineering Seattle, WA 98195"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Washington, Seattle, WA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"University of Washington Department of Mechanical Engineering Seattle, WA 98195","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070381429","display_name":"Santosh Devasia","orcid":"https://orcid.org/0000-0002-5823-5123"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Santosh Devasia","raw_affiliation_strings":["Department of Mechanical Engineering, University of Washington, Seattle, WA","University of Washington Department of Mechanical Engineering Seattle, WA 98195"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Washington, Seattle, WA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"University of Washington Department of Mechanical Engineering Seattle, WA 98195","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I201448701"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"106","last_page":"111"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9954000115394592,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9868000149726868,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/cohesion","display_name":"Cohesion (chemistry)","score":0.7520604133605957},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6191511154174805},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6049900054931641},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.553678035736084},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.48928019404411316},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4770885407924652},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4663727879524231},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2193278670310974},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10323205590248108}],"concepts":[{"id":"https://openalex.org/C104054115","wikidata":"https://www.wikidata.org/wiki/Q216828","display_name":"Cohesion (chemistry)","level":2,"score":0.7520604133605957},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6191511154174805},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6049900054931641},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.553678035736084},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.48928019404411316},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4770885407924652},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4663727879524231},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2193278670310974},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10323205590248108},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.23919/acc50511.2021.9482946","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9482946","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2102.09056","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.09056","pdf_url":"https://arxiv.org/pdf/2102.09056","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3131152500","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2102.09056","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2102.09056","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2102.09056","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2102.09056","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.09056","pdf_url":"https://arxiv.org/pdf/2102.09056","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1537022493","https://openalex.org/W1895812186","https://openalex.org/W2004682059","https://openalex.org/W2054381558","https://openalex.org/W2132115057","https://openalex.org/W2160643434","https://openalex.org/W2165279810","https://openalex.org/W2215696702","https://openalex.org/W2259942851","https://openalex.org/W2307955234","https://openalex.org/W2415175524","https://openalex.org/W2551956426","https://openalex.org/W2726042758","https://openalex.org/W2770279027","https://openalex.org/W2947016900","https://openalex.org/W2966594444","https://openalex.org/W2990336247","https://openalex.org/W3007110967","https://openalex.org/W6761030284"],"related_works":["https://openalex.org/W2472094752","https://openalex.org/W2134818940","https://openalex.org/W3037339079","https://openalex.org/W2911912808","https://openalex.org/W161295366","https://openalex.org/W2789461659","https://openalex.org/W2924881653","https://openalex.org/W2979055116","https://openalex.org/W639317911","https://openalex.org/W3034463191","https://openalex.org/W3184003142","https://openalex.org/W2044299979","https://openalex.org/W2759798195","https://openalex.org/W2787144933","https://openalex.org/W3207388765","https://openalex.org/W3014558905","https://openalex.org/W2034822822","https://openalex.org/W1040735863","https://openalex.org/W2044463529","https://openalex.org/W2484584914"],"abstract_inverted_index":{"Decentralized":[0],"network":[1,18],"theories":[2],"focus":[3],"on":[4],"achieving":[5],"consensus":[6,26],"and":[7,117],"in":[8,36,64,68,87],"speeding":[9],"up":[10],"the":[11,37,96,102,113,125,132,140],"rate":[12],"of":[13,43,74,112],"convergence":[14],"to":[15,41,52,78,83,139],"consensus.":[16],"However,":[17],"cohesion":[19,44],"(i.e.,":[20],"maintaining":[21],"consensus)":[22],"during":[23],"transitions":[24],"between":[25,101],"values":[27],"is":[28,77],"also":[29],"important":[30],"when":[31,45,137],"transporting":[32],"flexible":[33,47,85],"structures.":[34],"Deviations":[35],"robot":[38],"positions":[39],"due":[40],"loss":[42],"moving":[46],"structures":[48],"from":[49],"one":[50],"position":[51],"another,":[53],"such":[54],"as":[55],"uncured-composite":[56],"aircraft":[57],"wings,":[58],"can":[59,66,130],"cause":[60],"large":[61],"deformations,":[62],"which":[63,122],"turn,":[65],"result":[67],"potential":[69],"damage.":[70],"The":[71],"major":[72],"contribution":[73],"this":[75],"work":[76],"develop":[79],"a":[80,88],"decentralized":[81],"approach":[82,129],"transport":[84],"objects":[86],"cohesive":[89,127],"manner":[90],"using":[91],"local":[92],"force":[93],"measurements,":[94],"without":[95,142],"need":[97],"for":[98,109],"additional":[99],"communication":[100],"robots.":[103],"Additionally,":[104],"stability":[105],"conditions":[106],"are":[107,120],"developed":[108],"discrete-time":[110],"implementation":[111],"proposed":[114,126],"cohesive-transition":[115],"approach,":[116],"experimental":[118],"results":[119],"presented,":[121],"show":[123],"that":[124],"transportation":[128],"reduce":[131],"relative":[133],"deformations":[134],"by":[135],"85%":[136],"compared":[138],"case":[141],"it.":[143]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
