{"id":"https://openalex.org/W3012782542","doi":"https://doi.org/10.1109/icra40945.2020.9197109","title":"Connectivity Maintenance: Global and Optimized approach through Control Barrier Functions","display_name":"Connectivity Maintenance: Global and Optimized approach through Control Barrier Functions","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3012782542","doi":"https://doi.org/10.1109/icra40945.2020.9197109","mag":"3012782542"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197109","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"preprint","type_crossref":"proceedings-article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.10178","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033919628","display_name":"Beatrice Capelli","orcid":"https://orcid.org/0000-0002-2768-7557"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Beatrice Capelli","raw_affiliation_strings":["Department of Sciences and Methods for Engineering (DISMI), University of Modena and Reggio Emilia, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Sciences and Methods for Engineering (DISMI), University of Modena and Reggio Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046246429","display_name":"Lorenzo Sabattini","orcid":"https://orcid.org/0000-0002-2734-5549"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Sabattini","raw_affiliation_strings":["Department of Sciences and Methods for Engineering (DISMI), University of Modena and Reggio Emilia, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Sciences and Methods for Engineering (DISMI), University of Modena and Reggio Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":26,"citation_normalized_percentile":{"value":0.999723,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"5590","last_page":"5596"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9999,"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":0.9999,"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":0.9975,"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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9875,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.70421934},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6065253},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5714598},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5612315},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5500959},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.482301},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18009219},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13996065},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197109","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2003.10178","pdf_url":"https://arxiv.org/pdf/2003.10178","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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":false,"landing_page_url":"https://api.datacite.org/dois/10.48550/arxiv.2003.10178","pdf_url":null,"source":{"id":"https://openalex.org/S4393179698","display_name":"DataCite API","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210145204","host_organization_name":"DataCite","host_organization_lineage":["https://openalex.org/I4210145204"],"host_organization_lineage_names":["DataCite"],"type":"metadata"},"license":null,"license_id":null,"version":null}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2003.10178","pdf_url":"https://arxiv.org/pdf/2003.10178","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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":["https://openalex.org/W3012782542"],"referenced_works_count":38,"referenced_works":["https://openalex.org/W119501476","https://openalex.org/W1604557497","https://openalex.org/W1974676331","https://openalex.org/W1980569135","https://openalex.org/W2035465647","https://openalex.org/W2040298974","https://openalex.org/W2070842753","https://openalex.org/W2097002253","https://openalex.org/W2100555027","https://openalex.org/W2107723135","https://openalex.org/W2108556117","https://openalex.org/W2131566584","https://openalex.org/W2142924305","https://openalex.org/W2150593711","https://openalex.org/W2151417892","https://openalex.org/W2157503093","https://openalex.org/W2167485994","https://openalex.org/W2234962923","https://openalex.org/W2297280924","https://openalex.org/W2342740524","https://openalex.org/W2560504659","https://openalex.org/W2588802774","https://openalex.org/W2603752963","https://openalex.org/W2605596734","https://openalex.org/W2620840602","https://openalex.org/W2738842532","https://openalex.org/W2761389615","https://openalex.org/W2767609945","https://openalex.org/W2782792473","https://openalex.org/W2792874300","https://openalex.org/W2800824563","https://openalex.org/W2894119093","https://openalex.org/W2910825450","https://openalex.org/W2951276827","https://openalex.org/W2967099712","https://openalex.org/W2968935611","https://openalex.org/W2987358769","https://openalex.org/W3098925401"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2967743314","https://openalex.org/W2674584172","https://openalex.org/W2606825221","https://openalex.org/W2355865573","https://openalex.org/W2184085865","https://openalex.org/W2155981143","https://openalex.org/W2155245395","https://openalex.org/W2064245428"],"abstract_inverted_index":{"Connectivity":[0,27],"maintenance":[1],"is":[2],"an":[3,103],"essential":[4],"aspect":[5],"to":[6,21,59,85,90],"consider":[7],"while":[8],"controlling":[9],"a":[10,15,23,77,113,125],"multi-robot":[11,16,41],"system.":[12,42],"In":[13,72],"general,":[14],"system":[17,68],"should":[18],"be":[19,29],"connected":[20,69],"obtain":[22],"certain":[24],"common":[25],"objective.":[26],"must":[28],"kept":[30],"regardless":[31],"of":[32,39,128,138],"the":[33,37,40,51,60,66,82,92,129],"control":[34,94],"strategy":[35,95],"or":[36,56],"objective":[38],"Two":[43],"main":[44],"methods":[45],"exist":[46],"for":[47],"connectivity":[48,88],"maintenance:":[49],"keep":[50],"initial":[52,61],"connections":[53],"(local":[54],"connectivity)":[55],"allow":[57],"modifications":[58],"connections,":[62],"but":[63],"always":[64],"keeping":[65],"overall":[67],"(global":[70],"connectivity).":[71],"this":[73,107],"paper":[74],"we":[75,109,132],"present":[76],"method":[78],"that":[79,117],"allows,":[80],"at":[81],"same":[83],"time,":[84],"maintain":[86],"global":[87],"and":[89,111,121,131],"implement":[91],"desired":[93],"(e.g.,":[96],"consensus,":[97],"formation":[98],"control,":[99],"coverage),":[100],"all":[101],"in":[102],"optimized":[104],"fashion.":[105],"For":[106],"purpose,":[108],"defined":[110],"implemented":[112],"Control":[114],"Barrier":[115],"Function":[116],"can":[118],"incorporate":[119],"constraints":[120],"objectives.":[122],"We":[123],"provide":[124],"mathematical":[126],"proof":[127],"method,":[130],"demonstrate":[133],"its":[134],"versatility":[135],"with":[136],"simulations":[137],"different":[139],"applications.":[140]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3012782542","counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1}],"updated_date":"2024-12-09T12:38:02.908542","created_date":"2020-03-27"}