{"id":"https://openalex.org/W3183352020","doi":"https://doi.org/10.23919/acc50511.2021.9483330","title":"Leaderless Swarm Formation Control: From Global Specifications to Local Control Laws","display_name":"Leaderless Swarm Formation Control: From Global Specifications to Local Control Laws","publication_year":2021,"publication_date":"2021-05-25","ids":{"openalex":"https://openalex.org/W3183352020","doi":"https://doi.org/10.23919/acc50511.2021.9483330","mag":"3183352020"},"language":"en","primary_location":{"id":"doi:10.23919/acc50511.2021.9483330","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9483330","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":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2204.04412","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075442798","display_name":"Solomon Gudeta","orcid":"https://orcid.org/0009-0004-6655-4070"},"institutions":[{"id":"https://openalex.org/I35777872","display_name":"North Carolina Agricultural and Technical State University","ror":"https://ror.org/02aze4h65","country_code":"US","type":"education","lineage":["https://openalex.org/I35777872"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Solomon Gudeta","raw_affiliation_strings":["Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, North Carolina, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, North Carolina, USA","institution_ids":["https://openalex.org/I35777872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082128797","display_name":"Ali Karimoddini","orcid":"https://orcid.org/0000-0001-6084-6831"},"institutions":[{"id":"https://openalex.org/I35777872","display_name":"North Carolina Agricultural and Technical State University","ror":"https://ror.org/02aze4h65","country_code":"US","type":"education","lineage":["https://openalex.org/I35777872"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali Karimoddini","raw_affiliation_strings":["Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, North Carolina, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, North Carolina, USA","institution_ids":["https://openalex.org/I35777872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027930488","display_name":"Mohammadreza Davoodi","orcid":"https://orcid.org/0000-0001-6035-1759"},"institutions":[{"id":"https://openalex.org/I189196454","display_name":"The University of Texas at Arlington","ror":"https://ror.org/019kgqr73","country_code":"US","type":"education","lineage":["https://openalex.org/I189196454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohammadreza Davoodi","raw_affiliation_strings":["UT Arlington Research Institute, University of Texas at Arlington, Fort Worth, Texas, USA"],"affiliations":[{"raw_affiliation_string":"UT Arlington Research Institute, University of Texas at Arlington, Fort Worth, Texas, USA","institution_ids":["https://openalex.org/I189196454"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058545914","display_name":"Ioannis A. Raptis","orcid":"https://orcid.org/0000-0001-7437-2817"},"institutions":[{"id":"https://openalex.org/I35777872","display_name":"North Carolina Agricultural and Technical State University","ror":"https://ror.org/02aze4h65","country_code":"US","type":"education","lineage":["https://openalex.org/I35777872"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ioannis Raptis","raw_affiliation_strings":["Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, North Carolina, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, North Carolina, USA","institution_ids":["https://openalex.org/I35777872"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5075442798"],"corresponding_institution_ids":["https://openalex.org/I35777872"],"apc_list":null,"apc_paid":null,"fwci":0.4773,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.6636471,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"808","last_page":"813"},"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":0.9970999956130981,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9876999855041504,"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/swarm-behaviour","display_name":"Swarm behaviour","score":0.8694515228271484},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7665884494781494},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6656574606895447},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6305404901504517},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.6203197836875916},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6087666749954224},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5693359375},{"id":"https://openalex.org/keywords/ant-robotics","display_name":"Ant robotics","score":0.4744333326816559},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3620149493217468},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34334325790405273},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3315184414386749},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30395472049713135},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2609555721282959},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19617438316345215}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.8694515228271484},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7665884494781494},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6656574606895447},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6305404901504517},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.6203197836875916},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6087666749954224},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5693359375},{"id":"https://openalex.org/C44832474","wikidata":"https://www.wikidata.org/wiki/Q4770870","display_name":"Ant robotics","level":5,"score":0.4744333326816559},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3620149493217468},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34334325790405273},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3315184414386749},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30395472049713135},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2609555721282959},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19617438316345215},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/acc50511.2021.9483330","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9483330","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:2204.04412","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2204.04412","pdf_url":"https://arxiv.org/pdf/2204.04412","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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2204.04412","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2204.04412","pdf_url":"https://arxiv.org/pdf/2204.04412","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":[{"id":"https://metadata.un.org/sdg/16","score":0.75,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G7284622103","display_name":null,"funder_award_id":"1832110","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7840871600","display_name":null,"funder_award_id":"FA8750-15-2-0116","funder_id":"https://openalex.org/F4320332201","funder_display_name":"Office of the Secretary of Defense"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320332201","display_name":"Office of the Secretary of Defense","ror":"https://ror.org/00q4sx826"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1996470323","https://openalex.org/W2000215260","https://openalex.org/W2003446166","https://openalex.org/W2030775133","https://openalex.org/W2065632630","https://openalex.org/W2096108718","https://openalex.org/W2105850748","https://openalex.org/W2108879121","https://openalex.org/W2113709569","https://openalex.org/W2113942919","https://openalex.org/W2118331730","https://openalex.org/W2120120939","https://openalex.org/W2133754447","https://openalex.org/W2151609251","https://openalex.org/W2193922306","https://openalex.org/W2274304191","https://openalex.org/W2282034761","https://openalex.org/W2787958879","https://openalex.org/W2898184317","https://openalex.org/W2898956655","https://openalex.org/W2912229466","https://openalex.org/W2952156776","https://openalex.org/W2963546922","https://openalex.org/W2976755352","https://openalex.org/W3112111683","https://openalex.org/W6786948049"],"related_works":["https://openalex.org/W2518382144","https://openalex.org/W1713666988","https://openalex.org/W1966857494","https://openalex.org/W2611942912","https://openalex.org/W617387166","https://openalex.org/W2594816432","https://openalex.org/W4390481218","https://openalex.org/W2408644808","https://openalex.org/W1600534566","https://openalex.org/W1583262759"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,17,23,83,109,144,168,192],"distributed":[4],"leaderless":[5],"swarm":[6,18,89,129,163],"formation":[7,28,94],"control":[8,84,181],"framework":[9,81,182],"to":[10,21,90,131,149,166],"address":[11],"the":[12,32,40,50,58,64,72,75,79,88,92,96,100,115,121,128,133,136,151,162,174,179,185,198],"problem":[13],"of":[14,19,34,43,49,52,71,74,135,178,187,191,194,200],"collectively":[15],"driving":[16],"robots":[20,53,196,201],"track":[22,91],"time-varying":[24],"formation.":[25],"The":[26,155],"swarm's":[27],"is":[29,47],"captured":[30],"by":[31,119,183],"trajectory":[33,73,113],"an":[35],"abstract":[36,76,137,152,156],"shape":[37,77,153,157],"that":[38,86,114],"circumscribes":[39],"convex":[41],"hull":[42],"robots'":[44],"positions":[45],"and":[46,54,176,202],"independent":[48],"number":[51],"their":[55],"ordering":[56],"in":[57,63,69,197],"swarm.":[59],"For":[60,104,139],"each":[61],"robot":[62,116,170],"swarm,":[65],"given":[66],"global":[67],"specifications":[68],"terms":[70],"parameters,":[78],"proposed":[80,180],"synthesizes":[82],"law":[85],"steers":[87],"desired":[93],"using":[95],"information":[97],"available":[98],"at":[99],"robot's":[101],"local":[102,111],"neighbors.":[103],"this":[105,140],"purpose,":[106,141],"we":[107,126,142],"generate":[108,167],"suitable":[110,169],"reference":[112],"controller":[117],"tracks":[118],"solving":[120],"input-output":[122],"linearization":[123],"problem.":[124],"Here,":[125],"select":[127],"output":[130],"be":[132],"parameters":[134,158],"shape.":[138],"design":[143],"dynamic":[145],"average":[146],"consensus":[147],"estimator":[148],"estimate":[150],"parameters.":[154],"are":[159],"used":[160],"as":[161],"state":[164],"feedback":[165],"trajectory.":[171],"We":[172],"demonstrate":[173],"effectiveness":[175],"robustness":[177],"providing":[184],"simulation":[186],"coordinated":[188],"collective":[189],"navigation":[190],"group":[193],"car-like":[195],"presence":[199],"communication":[203],"link":[204],"failures.":[205]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2021-08-02T00:00:00"}