{"id":"https://openalex.org/W4304128559","doi":"https://doi.org/10.3390/e24101440","title":"Collaborative Optimal Formation Control for Heterogeneous Multi-Agent Systems","display_name":"Collaborative Optimal Formation Control for Heterogeneous Multi-Agent Systems","publication_year":2022,"publication_date":"2022-10-10","ids":{"openalex":"https://openalex.org/W4304128559","doi":"https://doi.org/10.3390/e24101440","pmid":"https://pubmed.ncbi.nlm.nih.gov/37420460"},"language":"en","primary_location":{"id":"doi:10.3390/e24101440","is_oa":true,"landing_page_url":"https://doi.org/10.3390/e24101440","pdf_url":"https://www.mdpi.com/1099-4300/24/10/1440/pdf?version=1666758707","source":{"id":"https://openalex.org/S195231649","display_name":"Entropy","issn_l":"1099-4300","issn":["1099-4300"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Entropy","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1099-4300/24/10/1440/pdf?version=1666758707","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100622352","display_name":"Yandong Li","orcid":"https://orcid.org/0000-0003-2448-1294"},"institutions":[{"id":"https://openalex.org/I111971639","display_name":"Qiqihar University","ror":"https://ror.org/01khf5d59","country_code":"CN","type":"education","lineage":["https://openalex.org/I111971639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yandong Li","raw_affiliation_strings":["College of Computer and Control Engineering, Qiqihar University, Qiqihar 161000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer and Control Engineering, Qiqihar University, Qiqihar 161000, China","institution_ids":["https://openalex.org/I111971639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100672863","display_name":"Meichen Liu","orcid":"https://orcid.org/0000-0002-3242-783X"},"institutions":[{"id":"https://openalex.org/I111971639","display_name":"Qiqihar University","ror":"https://ror.org/01khf5d59","country_code":"CN","type":"education","lineage":["https://openalex.org/I111971639"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Meichen Liu","raw_affiliation_strings":["College of Computer and Control Engineering, Qiqihar University, Qiqihar 161000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer and Control Engineering, Qiqihar University, Qiqihar 161000, China","institution_ids":["https://openalex.org/I111971639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063433775","display_name":"Jiya Lian","orcid":null},"institutions":[{"id":"https://openalex.org/I111971639","display_name":"Qiqihar University","ror":"https://ror.org/01khf5d59","country_code":"CN","type":"education","lineage":["https://openalex.org/I111971639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiya Lian","raw_affiliation_strings":["College of Computer and Control Engineering, Qiqihar University, Qiqihar 161000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer and Control Engineering, Qiqihar University, Qiqihar 161000, China","institution_ids":["https://openalex.org/I111971639"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066402070","display_name":"Yuan Guo","orcid":"https://orcid.org/0009-0008-7729-7064"},"institutions":[{"id":"https://openalex.org/I111971639","display_name":"Qiqihar University","ror":"https://ror.org/01khf5d59","country_code":"CN","type":"education","lineage":["https://openalex.org/I111971639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Guo","raw_affiliation_strings":["College of Computer and Control Engineering, Qiqihar University, Qiqihar 161000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer and Control Engineering, Qiqihar University, Qiqihar 161000, China","institution_ids":["https://openalex.org/I111971639"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100672863"],"corresponding_institution_ids":["https://openalex.org/I111971639"],"apc_list":{"value":2000,"currency":"CHF","value_usd":2227},"apc_paid":{"value":2000,"currency":"CHF","value_usd":2227},"fwci":1.3629,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.80714751,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"24","issue":"10","first_page":"1440","last_page":"1440"},"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/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"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9854000210762024,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/computer-science","display_name":"Computer science","score":0.5644482970237732},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.49457404017448425},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.443433552980423},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4431282877922058},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20632222294807434}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5644482970237732},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.49457404017448425},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.443433552980423},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4431282877922058},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20632222294807434}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/e24101440","is_oa":true,"landing_page_url":"https://doi.org/10.3390/e24101440","pdf_url":"https://www.mdpi.com/1099-4300/24/10/1440/pdf?version=1666758707","source":{"id":"https://openalex.org/S195231649","display_name":"Entropy","issn_l":"1099-4300","issn":["1099-4300"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Entropy","raw_type":"journal-article"},{"id":"pmid:37420460","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37420460","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Entropy (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:9d9e758f98ba492fbe23eda7b4f0ed17","is_oa":true,"landing_page_url":"https://doaj.org/article/9d9e758f98ba492fbe23eda7b4f0ed17","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Entropy, Vol 24, Iss 10, p 1440 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1099-4300/24/10/1440/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/e24101440","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Entropy; Volume 24; Issue 10; Pages: 1440","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:9602072","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9602072","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Entropy (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/e24101440","is_oa":true,"landing_page_url":"https://doi.org/10.3390/e24101440","pdf_url":"https://www.mdpi.com/1099-4300/24/10/1440/pdf?version=1666758707","source":{"id":"https://openalex.org/S195231649","display_name":"Entropy","issn_l":"1099-4300","issn":["1099-4300"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Entropy","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5634767723","display_name":null,"funder_award_id":"145109143","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7141832899","display_name":null,"funder_award_id":"61872204","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4304128559.pdf","grobid_xml":"https://content.openalex.org/works/W4304128559.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W786196370","https://openalex.org/W1630241696","https://openalex.org/W1965078045","https://openalex.org/W1967054562","https://openalex.org/W2012812921","https://openalex.org/W2015734958","https://openalex.org/W2040200667","https://openalex.org/W2053384247","https://openalex.org/W2081032778","https://openalex.org/W2267917689","https://openalex.org/W2333812099","https://openalex.org/W2399333380","https://openalex.org/W2514740199","https://openalex.org/W2589573742","https://openalex.org/W2609557462","https://openalex.org/W2768337556","https://openalex.org/W2972858166","https://openalex.org/W3007352400","https://openalex.org/W3092327471","https://openalex.org/W3109025899","https://openalex.org/W4220684380","https://openalex.org/W4223972620","https://openalex.org/W6641611173","https://openalex.org/W6654176906","https://openalex.org/W6712796203"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,12,19,45,49,58,66,75,89,94,101,105,109,113],"distributed":[4,50],"optimal":[5,39,51,68,97],"control":[6,40,47,53,70,98],"method":[7],"is":[8,42,55,60,72,77],"used":[9],"to":[10],"study":[11],"cooperative":[13,67],"formation":[14,46,52,69,102],"of":[15,26,91,96,104,112],"heterogeneous":[16],"multi-agents":[17],"in":[18],"air-ground":[20],"environment.":[21],"The":[22,38],"considered":[23],"system":[24,106],"consists":[25],"an":[27,33],"unmanned":[28,34],"aerial":[29],"vehicle":[30,36],"(UAV)":[31],"and":[32,57,74,84,107],"ground":[35],"(UGV).":[37],"theory":[41,99],"introduced":[43],"into":[44],"protocol,":[48],"protocol":[54,71],"designed,":[56,73],"stability":[59,76],"verified":[61],"by":[62],"graph":[63],"theory.":[64,87],"Furthermore,":[65],"analyzed":[78],"using":[79],"a":[80],"block":[81],"Kronecker":[82],"product":[83],"matrix":[85],"transformation":[86],"Through":[88],"comparison":[90],"simulation":[92],"results,":[93],"introduction":[95],"shortens":[100],"time":[103],"accelerates":[108],"convergence":[110],"speed":[111],"system.":[114]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4}],"updated_date":"2026-07-30T17:31:21.811387","created_date":"2025-10-10T00:00:00"}
