{"id":"https://openalex.org/W4378086464","doi":"https://doi.org/10.3390/e25060834","title":"Formation and Flocking Control Algorithms for Robot Networks with Double Integrator Dynamics and Time-Varying Formations","display_name":"Formation and Flocking Control Algorithms for Robot Networks with Double Integrator Dynamics and Time-Varying Formations","publication_year":2023,"publication_date":"2023-05-23","ids":{"openalex":"https://openalex.org/W4378086464","doi":"https://doi.org/10.3390/e25060834","pmid":"https://pubmed.ncbi.nlm.nih.gov/37372178"},"language":"en","primary_location":{"id":"doi:10.3390/e25060834","is_oa":true,"landing_page_url":"https://doi.org/10.3390/e25060834","pdf_url":"https://www.mdpi.com/1099-4300/25/6/834/pdf?version=1685333319","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/1099-4300/25/6/834/pdf?version=1685333319","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059882847","display_name":"Carlos Monta\u00f1ez-Molina","orcid":"https://orcid.org/0009-0005-4744-8392"},"institutions":[{"id":"https://openalex.org/I64663401","display_name":"Centro de Investigaci\u00f3n Cient\u00edfica y de Educaci\u00f3n Superior de Ensenada","ror":"https://ror.org/04znhwb73","country_code":"MX","type":"facility","lineage":["https://openalex.org/I64663401"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Carlos Monta\u00f1ez-Molina","raw_affiliation_strings":["Departamento de Electr\u00f3nica y Telecomunicaciones, Divisi\u00f3n de F\u00edsica Aplicada, Centro de Investigaci\u00f3n Cient\u00edfica y de Educaci\u00f3n Superior de Ensenada, Ensenada 22860, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Electr\u00f3nica y Telecomunicaciones, Divisi\u00f3n de F\u00edsica Aplicada, Centro de Investigaci\u00f3n Cient\u00edfica y de Educaci\u00f3n Superior de Ensenada, Ensenada 22860, Mexico","institution_ids":["https://openalex.org/I64663401"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020893740","display_name":"Javier Pliego\u2010Jim\u00e9nez","orcid":"https://orcid.org/0000-0002-5897-8963"},"institutions":[{"id":"https://openalex.org/I4210163111","display_name":"Secretar\u00eda de Ciencia, Humanidades, Tecnolog\u00eda e Innovaci\u00f3n","ror":"https://ror.org/059ex5q34","country_code":"MX","type":"government","lineage":["https://openalex.org/I4210163111"]},{"id":"https://openalex.org/I64663401","display_name":"Centro de Investigaci\u00f3n Cient\u00edfica y de Educaci\u00f3n Superior de Ensenada","ror":"https://ror.org/04znhwb73","country_code":"MX","type":"facility","lineage":["https://openalex.org/I64663401"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Javier Pliego-Jim\u00e9nez","raw_affiliation_strings":["Departamento de Electr\u00f3nica y Telecomunicaciones, Divisi\u00f3n de F\u00edsica Aplicada, Centro de Investigaci\u00f3n Cient\u00edfica y de Educaci\u00f3n Superior de Ensenada, Ensenada 22860, Mexico","Programa Investigadores por M\u00e9xico, Consejo Nacional de Ciencia y Tecnolog\u00eda, Mexico City 03940, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Electr\u00f3nica y Telecomunicaciones, Divisi\u00f3n de F\u00edsica Aplicada, Centro de Investigaci\u00f3n Cient\u00edfica y de Educaci\u00f3n Superior de Ensenada, Ensenada 22860, Mexico","institution_ids":["https://openalex.org/I64663401"]},{"raw_affiliation_string":"Programa Investigadores por M\u00e9xico, Consejo Nacional de Ciencia y Tecnolog\u00eda, Mexico City 03940, Mexico","institution_ids":["https://openalex.org/I4210163111"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075043692","display_name":"Rigoberto Mart\u00ednez-Clark","orcid":"https://orcid.org/0000-0003-3332-0839"},"institutions":[{"id":"https://openalex.org/I173664879","display_name":"Universidad Aut\u00f3noma de Baja California","ror":"https://ror.org/05xwcq167","country_code":"MX","type":"education","lineage":["https://openalex.org/I173664879"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Rigoberto Mart\u00ednez-Clark","raw_affiliation_strings":["Facultad de Ingenier\u00eda, Administraci\u00f3n y Ciencias Sociales, Universidad Aut\u00f3noma de Baja California, Mexicali 21100, Mexico"],"raw_orcid":"https://orcid.org/0000-0003-3332-0839","affiliations":[{"raw_affiliation_string":"Facultad de Ingenier\u00eda, Administraci\u00f3n y Ciencias Sociales, Universidad Aut\u00f3noma de Baja California, Mexicali 21100, Mexico","institution_ids":["https://openalex.org/I173664879"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5020893740"],"corresponding_institution_ids":["https://openalex.org/I4210163111","https://openalex.org/I64663401"],"apc_list":{"value":2000,"currency":"CHF","value_usd":2165},"apc_paid":{"value":2000,"currency":"CHF","value_usd":2165},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05828742,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"25","issue":"6","first_page":"834","last_page":"834"},"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/T10482","display_name":"Mathematical and Theoretical Epidemiology and Ecology Models","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.9836999773979187,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/flocking","display_name":"Flocking (texture)","score":0.8578047752380371},{"id":"https://openalex.org/keywords/double-integrator","display_name":"Double integrator","score":0.694962739944458},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6353961229324341},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5651867389678955},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5644757747650146},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.5621708631515503},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4360497295856476},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42367273569107056},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39152204990386963},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24264982342720032},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2151959240436554},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08881604671478271},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.08315110206604004}],"concepts":[{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.8578047752380371},{"id":"https://openalex.org/C2779323837","wikidata":"https://www.wikidata.org/wiki/Q5300045","display_name":"Double integrator","level":3,"score":0.694962739944458},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6353961229324341},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5651867389678955},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5644757747650146},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.5621708631515503},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4360497295856476},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42367273569107056},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39152204990386963},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24264982342720032},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2151959240436554},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08881604671478271},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.08315110206604004},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/e25060834","is_oa":true,"landing_page_url":"https://doi.org/10.3390/e25060834","pdf_url":"https://www.mdpi.com/1099-4300/25/6/834/pdf?version=1685333319","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:37372178","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37372178","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:pubmedcentral.nih.gov:10297626","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10297626","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10297626/pdf/entropy-25-00834.pdf","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"},{"id":"pmh:oai:doaj.org/article:b7f522dc03804a68a3d543e63cd20234","is_oa":true,"landing_page_url":"https://doaj.org/article/b7f522dc03804a68a3d543e63cd20234","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 25, Iss 6, p 834 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1099-4300/25/6/834/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/e25060834","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 25; Issue 6; Pages: 834","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/e25060834","is_oa":true,"landing_page_url":"https://doi.org/10.3390/e25060834","pdf_url":"https://www.mdpi.com/1099-4300/25/6/834/pdf?version=1685333319","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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7799999713897705}],"awards":[{"id":"https://openalex.org/G6197968148","display_name":null,"funder_award_id":"A1-S-31628","funder_id":"https://openalex.org/F4320321739","funder_display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda"},{"id":"https://openalex.org/G6958583472","display_name":null,"funder_award_id":"A1-S-","funder_id":"https://openalex.org/F4320321739","funder_display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda"}],"funders":[{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4378086464.pdf"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1495971413","https://openalex.org/W1673659740","https://openalex.org/W1970786657","https://openalex.org/W1981826826","https://openalex.org/W2025077067","https://openalex.org/W2036955475","https://openalex.org/W2065632630","https://openalex.org/W2098974515","https://openalex.org/W2101503267","https://openalex.org/W2105850748","https://openalex.org/W2119693819","https://openalex.org/W2133609233","https://openalex.org/W2146890818","https://openalex.org/W2160643434","https://openalex.org/W2166766502","https://openalex.org/W2169712243","https://openalex.org/W2428303113","https://openalex.org/W2735300634","https://openalex.org/W2735587495","https://openalex.org/W2750756645","https://openalex.org/W2809032294","https://openalex.org/W2914629192","https://openalex.org/W2940830480","https://openalex.org/W3084461364","https://openalex.org/W3091903520","https://openalex.org/W3130614785","https://openalex.org/W3130814479","https://openalex.org/W3136483272","https://openalex.org/W3154369824","https://openalex.org/W6743652595","https://openalex.org/W6793981817"],"related_works":["https://openalex.org/W2735587495","https://openalex.org/W2080488015","https://openalex.org/W2463859027","https://openalex.org/W4402569967","https://openalex.org/W2347533678","https://openalex.org/W1508718255","https://openalex.org/W4248598780","https://openalex.org/W4244659545","https://openalex.org/W3206355109","https://openalex.org/W2507282821"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"we":[3,35,42,73,105],"study":[4],"the":[5,32,56,64,81,89,94,99,107,111,115,131,134],"problem":[6],"of":[7,63,88,101,114,126,133],"designing":[8],"control":[9,33,39,53,78,136],"laws":[10],"that":[11,93],"achieve":[12,69],"time-varying":[13],"formation":[14],"and":[15],"flocking":[16],"behaviors":[17],"in":[18,109],"robot":[19,25],"networks":[20],"where":[21],"each":[22],"agent":[23],"or":[24],"presents":[26],"double":[27],"integrator":[28],"dynamics.":[29],"To":[30],"design":[31,74],"laws,":[34],"adopt":[36],"a":[37,44,51,75,124],"hierarchical":[38],"approach.":[40],"First,":[41],"introduce":[43],"virtual":[45,52,65],"velocity,":[46],"which":[47,110],"is":[48,67,92,117],"used":[49],"as":[50],"input":[54],"for":[55,80,120],"position":[57],"subsystem":[58,83],"(outer":[59],"loop).":[60,85],"The":[61],"objective":[62],"velocity":[66,76,82,100],"to":[68,129],"collective":[70],"behaviors.":[71],"Then,":[72],"tracking":[77],"law":[79],"(inner":[84],"An":[86],"advantage":[87],"proposed":[90,135],"approach":[91],"robots":[95],"do":[96],"not":[97,118],"require":[98],"their":[102],"neighbors.":[103],"Additionally,":[104],"address":[106],"case":[108],"second":[112],"state":[113],"system":[116],"available":[119],"feedback.":[121],"We":[122],"include":[123],"set":[125],"simulation":[127],"results":[128],"show":[130],"performance":[132],"laws.":[137]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
