{"id":"https://openalex.org/W4400946184","doi":"https://doi.org/10.23919/ecc64448.2024.10591128","title":"3D Directed Formation Control with Global Shape Convergence using Bispherical Coordinates","display_name":"3D Directed Formation Control with Global Shape Convergence using Bispherical Coordinates","publication_year":2024,"publication_date":"2024-06-25","ids":{"openalex":"https://openalex.org/W4400946184","doi":"https://doi.org/10.23919/ecc64448.2024.10591128"},"language":"en","primary_location":{"id":"doi:10.23919/ecc64448.2024.10591128","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/ecc64448.2024.10591128","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 European Control Conference (ECC)","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/A5094216899","display_name":"Omid Mirzaeedodangeh","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Omid Mirzaeedodangeh","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028782171","display_name":"Farhad Mehdifar","orcid":"https://orcid.org/0000-0003-2605-961X"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Farhad Mehdifar","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055348953","display_name":"Dimos V. Dimarogonas","orcid":"https://orcid.org/0000-0001-7309-8086"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Dimos V. Dimarogonas","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5094216899"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":0.6518,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.64446301,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1902","last_page":"1907"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11302","display_name":"CO2 Sequestration and Geologic Interactions","score":0.9728000164031982,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11302","display_name":"CO2 Sequestration and Geologic Interactions","score":0.9728000164031982,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10635","display_name":"Hydraulic Fracturing and Reservoir Analysis","score":0.970300018787384,"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/T10399","display_name":"Hydrocarbon exploration and reservoir analysis","score":0.9670000076293945,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/convergence","display_name":"Convergence (economics)","score":0.6761982440948486},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5628127455711365},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42404186725616455},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27678805589675903}],"concepts":[{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6761982440948486},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5628127455711365},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42404186725616455},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27678805589675903},{"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":1,"locations":[{"id":"doi:10.23919/ecc64448.2024.10591128","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/ecc64448.2024.10591128","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321033","display_name":"Svenska Forskningsr\u00e5det Formas","ror":"https://ror.org/03pjs1y45"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1593358666","https://openalex.org/W1635192251","https://openalex.org/W1981826826","https://openalex.org/W2130532917","https://openalex.org/W2138427182","https://openalex.org/W2496562802","https://openalex.org/W2623832686","https://openalex.org/W2963104770","https://openalex.org/W2965034009","https://openalex.org/W2970708857","https://openalex.org/W2972645059","https://openalex.org/W2995136929","https://openalex.org/W3037920390","https://openalex.org/W3089478209","https://openalex.org/W3119154778","https://openalex.org/W3155983089","https://openalex.org/W3188098090","https://openalex.org/W4212957942","https://openalex.org/W4213142442","https://openalex.org/W4223927949","https://openalex.org/W4239940917","https://openalex.org/W4313010128","https://openalex.org/W4319994153","https://openalex.org/W4400946184","https://openalex.org/W6863052579"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,28,122],"present":[4],"a":[5,15,129],"novel":[6],"3D":[7],"formation":[8,40,78,125],"control":[9,96,126],"scheme":[10],"for":[11,118],"directed":[12,45],"graphs":[13,46],"in":[14,41,90,100],"leader-follower":[16],"multi-agent":[17],"setup,,":[18],"achieving":[19],"(almost)":[20,81],"global":[21,82],"convergence":[22],"to":[23,56],"the":[24,39,58,63,75,91,95],"desired":[25],"shape.":[26],"Specifically,":[27],"introduce":[29],"three":[30],"controlled":[31],"variables":[32],"representing":[33],"bispherical":[34],"coordinates":[35],"that":[36,74],"uniquely":[37],"describe":[38],"3D.":[42],"Acyclic":[43],"triangulated":[44],"(a":[47],"class":[48],"of":[49,106],"minimally":[50],"acyclic":[51],"persistent":[52],"graphs)":[53],"are":[54,66,98],"used":[55],"model":[57],"inter-agent":[59],"sensing":[60],"topology,":[61],"while":[62,85],"agents'":[64],"dynamics":[65],"governed":[67],"by":[68,128],"single-integrator":[69],"model.":[70],"Our":[71],"analysis":[72],"demonstrates":[73],"proposed":[76],"decentralized":[77],"controller":[79],"ensures":[80],"asymptotic":[83],"stability":[84],"avoiding":[86],"potential":[87],"shape":[88],"ambiguities":[89],"final":[92],"formation.":[93],"Furthermore,":[94],"laws":[97],"implementable":[99],"arbitrarily":[101],"oriented":[102],"local":[103],"coordinate":[104],"frames":[105],"follower":[107],"agents":[108],"using":[109],"only":[110],"low-cost":[111],"onboard":[112],"vision":[113],"sensors,":[114],"making":[115],"it":[116],"suitable":[117],"practical":[119],"applications.":[120],"Finally,":[121],"validate":[123],"our":[124],"approach":[127],"simulation":[130],"study.":[131]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}