{"id":"https://openalex.org/W1600128362","doi":"https://doi.org/10.23919/ecc.2009.7074908","title":"Obstacle avoidance of robotic formations based on fluid mechanical modeling","display_name":"Obstacle avoidance of robotic formations based on fluid mechanical modeling","publication_year":2009,"publication_date":"2009-08-01","ids":{"openalex":"https://openalex.org/W1600128362","doi":"https://doi.org/10.23919/ecc.2009.7074908","mag":"1600128362"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2009.7074908","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2009.7074908","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://openresearch-repository.anu.edu.au/bitstreams/298ae8f7-e619-4e64-8fa3-aa7249035999/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061717826","display_name":"Rabie Soukieh","orcid":null},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Rabie Soukieh","raw_affiliation_strings":["Australian National University","Australian National University,#N#                            Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian National University","institution_ids":["https://openalex.org/I118347636"]},{"raw_affiliation_string":"Australian National University,#N#                            Australia","institution_ids":["https://openalex.org/I118347636"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010259253","display_name":"Iman Shames","orcid":"https://orcid.org/0000-0001-7308-3546"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Iman Shames","raw_affiliation_strings":["Australian National University and National ICT, Australia","Australian National University and National ICT Australia, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian National University and National ICT, Australia","institution_ids":["https://openalex.org/I118347636","https://openalex.org/I42894916"]},{"raw_affiliation_string":"Australian National University and National ICT Australia, Australia","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I118347636"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001551882","display_name":"Bar\u0131\u015f Fi\u0307dan","orcid":"https://orcid.org/0000-0002-5333-0201"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Baris Fidan","raw_affiliation_strings":["Australian National University and National ICT, Australia","Australian National University and National ICT Australia, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian National University and National ICT, Australia","institution_ids":["https://openalex.org/I118347636","https://openalex.org/I42894916"]},{"raw_affiliation_string":"Australian National University and National ICT Australia, Australia","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I118347636"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4515,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.82471108,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3263","last_page":"3268"},"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":0.9998999834060669,"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":0.9970999956130981,"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":0.7470593452453613},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6933095455169678},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6324825882911682},{"id":"https://openalex.org/keywords/streamlines-streaklines-and-pathlines","display_name":"Streamlines, streaklines, and pathlines","score":0.626251220703125},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.5794006586074829},{"id":"https://openalex.org/keywords/double-integrator","display_name":"Double integrator","score":0.5739505887031555},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5391393899917603},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4809409976005554},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4745676815509796},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3484508991241455},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2967340350151062},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2413802444934845},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21417635679244995},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21320390701293945},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19212275743484497},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.1572098731994629}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7470593452453613},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6933095455169678},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6324825882911682},{"id":"https://openalex.org/C60439489","wikidata":"https://www.wikidata.org/wiki/Q634407","display_name":"Streamlines, streaklines, and pathlines","level":2,"score":0.626251220703125},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.5794006586074829},{"id":"https://openalex.org/C2779323837","wikidata":"https://www.wikidata.org/wiki/Q5300045","display_name":"Double integrator","level":3,"score":0.5739505887031555},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5391393899917603},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4809409976005554},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4745676815509796},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3484508991241455},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2967340350151062},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2413802444934845},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21417635679244995},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21320390701293945},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19212275743484497},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.1572098731994629},{"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc.2009.7074908","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2009.7074908","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:openresearch-repository.anu.edu.au:1885/54423","is_oa":true,"landing_page_url":"http://hdl.handle.net/1885/54423","pdf_url":"https://openresearch-repository.anu.edu.au/bitstreams/298ae8f7-e619-4e64-8fa3-aa7249035999/download","source":{"id":"https://openalex.org/S4306402539","display_name":"ANU Open Research (Australian National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I118347636","host_organization_name":"Australian National University","host_organization_lineage":["https://openalex.org/I118347636"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the European Control Conference (ECC 2009)","raw_type":"Conference paper"}],"best_oa_location":{"id":"pmh:oai:openresearch-repository.anu.edu.au:1885/54423","is_oa":true,"landing_page_url":"http://hdl.handle.net/1885/54423","pdf_url":"https://openresearch-repository.anu.edu.au/bitstreams/298ae8f7-e619-4e64-8fa3-aa7249035999/download","source":{"id":"https://openalex.org/S4306402539","display_name":"ANU Open Research (Australian National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I118347636","host_organization_name":"Australian National University","host_organization_lineage":["https://openalex.org/I118347636"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the European Control Conference (ECC 2009)","raw_type":"Conference paper"},"sustainable_development_goals":[{"score":0.4399999976158142,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1600128362.pdf","grobid_xml":"https://content.openalex.org/works/W1600128362.grobid-xml"},"referenced_works_count":11,"referenced_works":["https://openalex.org/W1498708678","https://openalex.org/W1966272269","https://openalex.org/W2014486802","https://openalex.org/W2060187689","https://openalex.org/W2083644756","https://openalex.org/W2089724372","https://openalex.org/W2112097268","https://openalex.org/W2130647945","https://openalex.org/W2153081079","https://openalex.org/W2329853695","https://openalex.org/W2334226258"],"related_works":["https://openalex.org/W1680795328","https://openalex.org/W2916015609","https://openalex.org/W2085881860","https://openalex.org/W2034723363","https://openalex.org/W1967194564","https://openalex.org/W2319269581","https://openalex.org/W2052498649","https://openalex.org/W4387914507","https://openalex.org/W4381746391","https://openalex.org/W2137563252"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,17,26,157],"on":[3,28],"obstacle":[4,22,114],"avoidance":[5,23],"of":[6,8,102,118,135,138,145,154],"swarms":[7],"robots":[9],"moving":[10,120],"in":[11,121],"certain":[12],"geometric":[13],"planar":[14],"formations.":[15],"Focus":[16],"given":[18],"to":[19,56],"a":[20,43,61,64,122],"particular":[21],"approach,":[24],"which":[25,54],"based":[27,110],"the":[29,35,39,48,72,100,139,152],"fluid":[30,45,50,108],"mechanical":[31],"principle":[32],"known":[33],"as":[34,42],"Circle":[36],"Theorem.":[37],"Considering":[38],"motion":[40,116,143],"region":[41],"fictitious":[44],"environment":[46],"surrounding":[47],"obstacles,":[49],"streamlines":[51],"are":[52,78,126],"calculated":[53],"correspond":[55],"unique":[57],"smooth":[58],"paths":[59],"that":[60],"robot":[62],"or":[63],"robotic":[65],"formation":[66,125],"can":[67],"follow":[68],"without":[69],"colliding":[70],"with":[71,99],"obstacles.":[73],"The":[74,107],"design":[75],"and":[76,88,128],"analysis":[77],"initially":[79],"performed":[80],"assuming":[81],"simple":[82],"integrator":[83],"dynamics":[84,109],"for":[85,91,113,142],"each":[86],"agent,":[87],"later":[89],"extended":[90],"more":[92],"realistic":[93],"non-holonomic":[94],"unicycle":[95],"dynamic":[96],"agent":[97],"models,":[98],"help":[101],"proportional":[103],"integral":[104],"(PI)":[105],"control.":[106],"designs":[111,141],"developed":[112,140],"avoiding":[115],"control":[117,144],"agents,":[119],"prescribed":[123],"rigid":[124],"novel,":[127],"successfully":[129],"tested":[130],"via":[131],"an":[132],"extensive":[133],"set":[134],"simulations.":[136],"Application":[137],"unmanned":[146],"aerial":[147],"vehicle":[148],"(UAV)":[149],"formations":[150],"under":[151],"constraint":[153],"constant":[155],"speed":[156],"also":[158],"presented.":[159]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}