{"id":"https://openalex.org/W4382935797","doi":"https://doi.org/10.23919/acc55779.2023.10156409","title":"Control Barrier Function Based Decentralized UAV Swarm Navigation While Preserving Connectivity Without Explicit Communication","display_name":"Control Barrier Function Based Decentralized UAV Swarm Navigation While Preserving Connectivity Without Explicit Communication","publication_year":2023,"publication_date":"2023-05-31","ids":{"openalex":"https://openalex.org/W4382935797","doi":"https://doi.org/10.23919/acc55779.2023.10156409"},"language":"en","primary_location":{"id":"doi:10.23919/acc55779.2023.10156409","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc55779.2023.10156409","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5092385042","display_name":"Thiviyathinesvaran Palani","orcid":"https://orcid.org/0000-0002-4863-047X"},"institutions":[{"id":"https://openalex.org/I78928947","display_name":"Kyoto University of Advanced Science","ror":"https://ror.org/00qa6r925","country_code":"JP","type":"education","lineage":["https://openalex.org/I78928947"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Thiviyathinesvaran Palani","raw_affiliation_strings":["Kyoto University of Advanced Science,Graduate School of Engineering,Kyoto,Japan,615-8577"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyoto University of Advanced Science,Graduate School of Engineering,Kyoto,Japan,615-8577","institution_ids":["https://openalex.org/I78928947"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054801081","display_name":"Hiroaki Fukushima","orcid":"https://orcid.org/0000-0002-0646-6974"},"institutions":[{"id":"https://openalex.org/I78928947","display_name":"Kyoto University of Advanced Science","ror":"https://ror.org/00qa6r925","country_code":"JP","type":"education","lineage":["https://openalex.org/I78928947"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroaki Fukushima","raw_affiliation_strings":["Kyoto University of Advanced Science,Graduate School of Engineering,Kyoto,Japan,615-8577"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyoto University of Advanced Science,Graduate School of Engineering,Kyoto,Japan,615-8577","institution_ids":["https://openalex.org/I78928947"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071814439","display_name":"Shunsuke Izuhara","orcid":"https://orcid.org/0000-0003-0492-4991"},"institutions":[{"id":"https://openalex.org/I78928947","display_name":"Kyoto University of Advanced Science","ror":"https://ror.org/00qa6r925","country_code":"JP","type":"education","lineage":["https://openalex.org/I78928947"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shunsuke Izuhara","raw_affiliation_strings":["Nagamori Institute of Actuators, Kyoto University of Advanced Science,Kyoto,Japan,615-8577"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nagamori Institute of Actuators, Kyoto University of Advanced Science,Kyoto,Japan,615-8577","institution_ids":["https://openalex.org/I78928947"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I78928947"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1767","last_page":"1774"},"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":0.9988999962806702,"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":0.9986000061035156,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7807841300964355},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7228368520736694},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6522396802902222},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6068889498710632},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5328356027603149},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5236080288887024},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.4973798096179962},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.47031939029693604},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4617166221141815},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.44062134623527527},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43608492612838745},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42150020599365234},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3748186230659485},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3670380711555481},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2625649571418762},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.20875313878059387}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7807841300964355},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7228368520736694},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6522396802902222},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6068889498710632},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5328356027603149},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5236080288887024},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.4973798096179962},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.47031939029693604},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4617166221141815},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.44062134623527527},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43608492612838745},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42150020599365234},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3748186230659485},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3670380711555481},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2625649571418762},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.20875313878059387},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc55779.2023.10156409","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc55779.2023.10156409","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6000000238418579,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1508056422","https://openalex.org/W1972149633","https://openalex.org/W1974676331","https://openalex.org/W2105850748","https://openalex.org/W2119693819","https://openalex.org/W2202983866","https://openalex.org/W2323417403","https://openalex.org/W2463859027","https://openalex.org/W2588802774","https://openalex.org/W2603752963","https://openalex.org/W2619823627","https://openalex.org/W2777057360","https://openalex.org/W2910825450","https://openalex.org/W2916485816","https://openalex.org/W2968945909","https://openalex.org/W2995631631","https://openalex.org/W3035313359","https://openalex.org/W3039518800","https://openalex.org/W3094402048","https://openalex.org/W3138665663","https://openalex.org/W3153755872","https://openalex.org/W3194223256","https://openalex.org/W3196415855","https://openalex.org/W4205642896","https://openalex.org/W4292249799","https://openalex.org/W6771607980"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W2906946336","https://openalex.org/W1971413691"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,9],"decentralized":[4],"leader-follower":[5],"navigation":[6],"method":[7,22],"for":[8],"group":[10],"of":[11,37,79,118,131,148],"unmanned":[12],"aerial":[13],"vehicles":[14],"(UAVs)":[15],"in":[16,48,58,88,128],"environments":[17],"with":[18,76,157],"obstacles.":[19],"The":[20,55,91,116],"proposed":[21,104,120,150],"is":[23,31,122,152],"based":[24],"on":[25,98],"control":[26,62,92],"barrier":[27],"functions":[28,44],"(CBFs)":[29],"and":[30,69,85,102,134],"designed":[32],"to":[33,107,124,140],"overcome":[34],"the":[35,74,77,89,103,119,125,129,146,149],"limitations":[36],"current":[38],"approaches":[39],"that":[40],"use":[41],"artificial":[42],"potential":[43],"(APFs),":[45],"which":[46],"may":[47],"some":[49],"cases":[50],"cause":[51],"undesired":[52],"vibratory":[53,132],"movements.":[54,144],"algorithm":[56],"presented":[57],"this":[59],"study":[60],"computes":[61],"inputs":[63,93],"using":[64],"only":[65],"local":[66],"sensor":[67],"information":[68],"without":[70,96],"explicit":[71],"communication":[72],"between":[73],"robots,":[75],"aim":[78],"ensuring":[80],"collision":[81],"avoidance,":[82,84],"obstacle":[83],"connectivity":[86],"preservation":[87],"group.":[90],"are":[94],"derived":[95],"relying":[97],"numerical":[99],"solution":[100],"techniques,":[101],"approach":[105,121,127,151],"aims":[106],"prevent":[108],"constraint":[109],"violations":[110],"from":[111],"occurring":[112],"before":[113],"they":[114],"happen.":[115],"performance":[117],"compared":[123],"APF-based":[126],"context":[130],"movements,":[133],"simulation":[135],"results":[136],"demonstrate":[137],"its":[138],"ability":[139],"achieve":[141],"smoother":[142],"robot":[143],"Moreover,":[145],"effectiveness":[147],"confirmed":[153],"through":[154],"experimental":[155],"validation":[156],"quadrotors.":[158]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
