{"id":"https://openalex.org/W4294691374","doi":"https://doi.org/10.23919/acc53348.2022.9867249","title":"Coordinated Path Following for a Class of Underactuated Multi-agent System using Nested Set Stabilization","display_name":"Coordinated Path Following for a Class of Underactuated Multi-agent System using Nested Set Stabilization","publication_year":2022,"publication_date":"2022-06-08","ids":{"openalex":"https://openalex.org/W4294691374","doi":"https://doi.org/10.23919/acc53348.2022.9867249"},"language":"en","primary_location":{"id":"doi:10.23919/acc53348.2022.9867249","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867249","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065225553","display_name":"Adeel Akhtar","orcid":"https://orcid.org/0000-0002-1830-0824"},"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":true,"raw_author_name":"Adeel Akhtar","raw_affiliation_strings":["University of California,Department of Electrical and Computer Engineering,Santa Cruz,California,USA","Department of Electrical and Computer Engineering, University of California, Santa Cruz, California, USA"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical and Computer Engineering,Santa Cruz,California,USA","institution_ids":["https://openalex.org/I185103710"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Santa Cruz, California, USA","institution_ids":["https://openalex.org/I185103710"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5065225553"],"corresponding_institution_ids":["https://openalex.org/I185103710"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10428254,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1230","last_page":"1235"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.996399998664856,"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/T12158","display_name":"Guidance and Control Systems","score":0.9912999868392944,"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/jerk","display_name":"Jerk","score":0.7714771628379822},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7378825545310974},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6609402894973755},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.608859121799469},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.602191150188446},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5787153244018555},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5614649057388306},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4856030344963074},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4487345814704895},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4482036232948303},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3735269606113434},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37189751863479614},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1752781867980957},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13562056422233582},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09267669916152954},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.09245920181274414},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06218743324279785}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.7714771628379822},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7378825545310974},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6609402894973755},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.608859121799469},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.602191150188446},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5787153244018555},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5614649057388306},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4856030344963074},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4487345814704895},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4482036232948303},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3735269606113434},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37189751863479614},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1752781867980957},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13562056422233582},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09267669916152954},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.09245920181274414},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06218743324279785},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc53348.2022.9867249","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867249","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W831668350","https://openalex.org/W1553665348","https://openalex.org/W1981826826","https://openalex.org/W1986360546","https://openalex.org/W2011233591","https://openalex.org/W2140515911","https://openalex.org/W2160643434","https://openalex.org/W2394585357","https://openalex.org/W2525538692","https://openalex.org/W2902998043","https://openalex.org/W2962976917","https://openalex.org/W3014710408","https://openalex.org/W6756621696"],"related_works":["https://openalex.org/W2376623953","https://openalex.org/W2352897580","https://openalex.org/W2118664347","https://openalex.org/W2348411017","https://openalex.org/W3049304016","https://openalex.org/W1977630140","https://openalex.org/W2019544916","https://openalex.org/W2568861134","https://openalex.org/W4232942130","https://openalex.org/W2154495601"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,26,42,49,61,67,70,73,78,81,94,98,108,119],"multi-agent":[4,120],"coordinated":[5,121],"path":[6,51,62,122],"following":[7,18,52,123],"problem":[8,124],"consisting":[9],"of":[10,13,17,21,41,69,111],"a":[11,19,31,34,117],"class":[12,20],"underactuated":[14],"vehicles":[15],"capable":[16],"closed":[22],"embedded":[23],"curves":[24],"in":[25,66,93],"three-dimensional":[27],"space":[28],"and":[29,54,115],"proposes":[30],"solution":[32],"using":[33],"nested":[35,113],"set":[36,44],"stabilization":[37,40],"approach.":[38],"The":[39,89,104],"first":[43],"restricts":[45],"each":[46,57,112],"agent":[47],"to":[48],"assigned":[50],"manifold":[53],"ensures":[55],"that":[56],"system":[58],"stays":[59],"on":[60],"indefinitely":[63],"when":[64],"initialized":[65],"neighborhood":[68],"path.":[71],"Stabilizing":[72],"second":[74,95],"set,":[75,91,96,114],"contained":[76,92],"inside":[77],"first,":[79],"solves":[80],"position,":[82],"velocity,":[83],"acceleration,":[84],"or":[85,100],"jerk-related":[86],"coordination":[87,102],"constraints.":[88,103],"third":[90],"satisfies":[97],"yaw,":[99],"yaw-rate-related":[101],"reduction":[105],"theorem":[106],"establishes":[107],"asymptotic":[109],"stability":[110],"as":[116],"result,":[118],"is":[125],"solved.":[126]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}