{"id":"https://openalex.org/W7147185414","doi":"https://doi.org/10.48550/arxiv.2603.27020","title":"Multicluster Design and Control of Large-Scale Affine Formations","display_name":"Multicluster Design and Control of Large-Scale Affine Formations","publication_year":2026,"publication_date":"2026-03-27","ids":{"openalex":"https://openalex.org/W7147185414","doi":"https://doi.org/10.48550/arxiv.2603.27020"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.27020","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.27020","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.27020","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028902622","display_name":"Z. Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Zhonggang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089101522","display_name":"Geert Leus","orcid":"https://orcid.org/0000-0001-8288-867X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Leus, Geert","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5132698654","display_name":"Raj Thilak Rajan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rajan, Raj Thilak","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.975600004196167,"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":0.975600004196167,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.0035000001080334187,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0034000000450760126,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/affine-transformation","display_name":"Affine transformation","score":0.7440999746322632},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7335000038146973},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6743000149726868},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6622999906539917},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.48159998655319214},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.45350000262260437},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4221000075340271},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.3797000050544739}],"concepts":[{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.7440999746322632},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7335000038146973},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6743000149726868},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6668999791145325},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6622999906539917},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.48159998655319214},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.45350000262260437},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4388999938964844},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4221000075340271},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39559999108314514},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.3797000050544739},{"id":"https://openalex.org/C186394612","wikidata":"https://www.wikidata.org/wiki/Q7098942","display_name":"Optimal design","level":2,"score":0.3440999984741211},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.32179999351501465},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.3163999915122986},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.30140000581741333},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.27459999918937683},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.25929999351501465},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25839999318122864},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.257099986076355},{"id":"https://openalex.org/C134121241","wikidata":"https://www.wikidata.org/wiki/Q899301","display_name":"Yield (engineering)","level":2,"score":0.2540999948978424},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2522999942302704}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.27020","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.27020","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.27020","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.27020","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Conventional":[0],"affine":[1,131],"formation":[2,162],"control":[3,119,197],"(AFC)":[4],"empowers":[5],"a":[6,16,67,89,106,117,153,170],"network":[7],"of":[8,28,36,109,156,182,194],"agents":[9,159,173],"with":[10,98,152,160,186],"flexible":[11],"but":[12,137],"collective":[13,130],"motions":[14,132,141],"-":[15],"potential":[17,100],"which":[18],"has":[19],"not":[20,82,128],"yet":[21],"been":[22],"exploited":[23],"for":[24,73,94,105,144],"large-scale":[25,145],"swarms.":[26,146],"One":[27],"the":[29,34,42,99,180,192],"key":[30],"bottlenecks":[31],"lies":[32],"in":[33,134],"design":[35,49,93,149],"an":[37,123],"interaction":[38],"graph,":[39],"characterized":[40],"by":[41,174],"Laplacian-like":[43],"stress":[44],"matrix.":[45],"Efficient":[46],"and":[47,62,80,190],"scalable":[48],"solutions":[50,54,76,189],"often":[51],"yield":[52],"suboptimal":[53],"on":[55],"various":[56],"performance":[57,181],"metrics,":[58],"e.g.,":[59],"convergence":[60],"speed":[61],"communication":[63],"cost,":[64],"to":[65,101,166,168],"name":[66],"few.":[68],"The":[69,147],"current":[70],"state-of-the-art":[71,188],"algorithms":[72],"finding":[74],"optimal":[75,92],"are":[77],"computationally":[78],"expensive":[79],"therefore":[81],"scalable.":[83],"In":[84],"this":[85],"work,":[86],"we":[87,115,178],"propose":[88],"more":[90],"efficient":[91],"any":[95],"generic":[96],"configuration,":[97],"further":[102],"reduce":[103],"complexity":[104],"large":[107],"class":[108],"nongeneric":[110],"rotationally":[111],"symmetric":[112],"configurations.":[113],"Furthermore,":[114],"introduce":[116],"multicluster":[118],"framework":[120],"that":[121],"offers":[122],"additional":[124],"scalability":[125],"improvement,":[126],"enabling":[127],"only":[129,169],"as":[133,164],"conventional":[135],"AFC":[136],"also":[138],"partially":[139],"independent":[140],"naturally":[142],"desired":[143],"overall":[148],"is":[150],"compatible":[151],"swarm":[154],"size":[155],"several":[157,187],"hundred":[158],"fast":[161],"convergence,":[163],"compared":[165,185],"up":[167],"few":[171],"dozen":[172],"existing":[175],"methods.":[176],"Experimentally,":[177],"benchmark":[179],"our":[183,195],"algorithm":[184],"demonstrate":[191],"capabilities":[193],"proposed":[196],"strategies.":[198]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-04-02T00:00:00"}
