{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,14]],"date-time":"2026-05-14T09:06:13Z","timestamp":1778749573805,"version":"3.51.4"},"reference-count":26,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2014,1,23]],"date-time":"2014-01-23T00:00:00Z","timestamp":1390435200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2014,11]]},"DOI":"10.1007\/s10846-014-0023-z","type":"journal-article","created":{"date-parts":[[2014,1,22]],"date-time":"2014-01-22T08:15:32Z","timestamp":1390378532000},"page":"239-253","source":"Crossref","is-referenced-by-count":14,"title":["Consensus of Multi-slave Bilateral Teleoperation System with Time-Varying Delays"],"prefix":"10.1007","volume":"76","author":[{"given":"Jing","family":"Yan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaoyuan","family":"Luo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xian","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Changchun","family":"Hua","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xinping","family":"Guan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2014,1,23]]},"reference":[{"issue":"2","key":"23_CR1","doi-asserted-by":"crossref","first-page":"209","DOI":"10.1007\/s10846-008-9210-0","volume":"52","author":"A Alfi","year":"2008","unstructured":"Alfi, A., Farrokhi, M.: Force reflecting bilateral control of master-slave systems in teleoperation. J. Intell. Robot. Syst. 52(2), 209\u2013232 (2008)","journal-title":"J. Intell. Robot. Syst."},{"issue":"3\u20134","key":"23_CR2","doi-asserted-by":"crossref","first-page":"245","DOI":"10.1007\/s10846-012-9678-5","volume":"68","author":"F Hashemzadeh","year":"2012","unstructured":"Hashemzadeh, F., Hassanzadeh, I., Alizadeh, G.: Adaptive control for state synchronization of nonlinear haptic telerobotic systems with asymmetric varying time delays. J. Intell. Robot. Syst. 68(3\u20134), 245\u2013259 (2012)","journal-title":"J. Intell. Robot. Syst."},{"issue":"1","key":"23_CR3","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1007\/s10846-007-9148-7","volume":"50","author":"N Nitzsche","year":"2007","unstructured":"Nitzsche, N., Schmidt, G.: Force-reflecting telepresence in extensive remote environment. J. Intell. Robot. Syst. 50(1), 3\u201318 (2007)","journal-title":"J. Intell. Robot. Syst."},{"issue":"8","key":"23_CR4","doi-asserted-by":"crossref","first-page":"2847","DOI":"10.1109\/TIM.2009.2016368","volume":"58","author":"Y Ye","year":"2009","unstructured":"Ye, Y., Liu, P.X.: Improving haptic feedback fidelity in wavevariable-based teleoperation oriented to telemedical applications. IEEE Trans. Instrum. Meas. 58(8), 2847\u20132855 (2009)","journal-title":"IEEE Trans. Instrum. Meas."},{"issue":"4","key":"23_CR5","doi-asserted-by":"crossref","first-page":"930","DOI":"10.1109\/TSMCB.2005.861878","volume":"36","author":"IG Polushin","year":"2006","unstructured":"Polushin, I.G., Liu, P.X., Lung, C.H.: A control scheme for stable force-reflecting teleoperation over IP networks. IEEE Trans. Syst. Man Cybern. B 36(4), 930\u2013939 (2006)","journal-title":"IEEE Trans. Syst. Man Cybern. B"},{"issue":"1","key":"23_CR6","doi-asserted-by":"crossref","first-page":"4","DOI":"10.1109\/TIM.2010.2065410","volume":"60","author":"CC Hua","year":"2011","unstructured":"Hua, C.C., Liu, P.X.: Teleoperation over the internet with\/without velocity signal. IEEE Trans. Instrum. Meas. 60(1), 4\u201313 (2011)","journal-title":"IEEE Trans. Instrum. Meas."},{"issue":"1","key":"23_CR7","doi-asserted-by":"crossref","first-page":"244","DOI":"10.1016\/j.ins.2013.01.016","volume":"233","author":"X Yang","year":"2013","unstructured":"Yang, X., Hua, C.C., Yan, J., Guan, X.P.: New stability criteria for networked teleoperation system. Inf. Sci. 233(1), 244\u2013254 (2013)","journal-title":"Inf. Sci."},{"issue":"7","key":"23_CR8","doi-asserted-by":"crossref","first-page":"895","DOI":"10.1177\/0278364908099461","volume":"28","author":"E Nu\u00f1o","year":"2009","unstructured":"Nu\u00f1o, E., Basa\u00f1ez, L., Ortega, R., Spong, M.W.: Position tracking for non-linear teleoperators with variable time delay. Int. J. Robot. Res. 28(7), 895\u2013910 (2009)","journal-title":"Int. J. Robot. Res."},{"issue":"6","key":"23_CR9","doi-asserted-by":"crossref","first-page":"1005","DOI":"10.1016\/j.automatica.2012.02.043","volume":"48","author":"IG Polushin","year":"2012","unstructured":"Polushin, I.G., Liu, P.X., Lung, C.H.: Stability of bilateral teleoperators with generalized projection-based force reflection algorithms. Automatica 48(6), 1005\u20131016 (2012)","journal-title":"Automatica"},{"key":"23_CR10","unstructured":"Xu, Z.H., Ma, L., Wu, Z.Y., Schilling, K., Necsulescu, D.: Teleoperating a formation of car-like rovers under time delays. In: Processing of Chinese Control Conference, pp. 4095\u20134101 (2011)"},{"issue":"4","key":"23_CR11","doi-asserted-by":"crossref","first-page":"984","DOI":"10.1109\/TCST.2009.2030176","volume":"18","author":"EJ Rodr\u00edguez-Seda","year":"2010","unstructured":"Rodr\u00edguez-Seda, E.J., Troy, J.J., Erignac, C.A., Murray, P., Stipanovi\u0107, D.M., Spong, M.W.: Bilateral teleoperation of multiple mobile agents: coordinated motion and collision avoidance. IEEE Trans. Control Syst. Technol. 18(4), 984\u2013992 (2010)","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"7025","key":"23_CR12","doi-asserted-by":"crossref","first-page":"513","DOI":"10.1038\/nature03236","volume":"433","author":"ID Couzin","year":"2005","unstructured":"Couzin, I.D., Krause, J., Franks, N.R., Levin, S.A.: Effective leadership and decision-making in animal groups on the move. Nature 433(7025), 513\u2013516 (2005)","journal-title":"Nature"},{"issue":"3","key":"23_CR13","doi-asserted-by":"crossref","first-page":"846","DOI":"10.1016\/j.automatica.2007.07.004","volume":"44","author":"YG Hong","year":"2008","unstructured":"Hong, Y.G., Chen, G.R., Bushnell, L.: Distributed observers design for leader-following control of multi-agent networks. Automatica 44(3), 846\u2013850 (2008)","journal-title":"Automatica"},{"issue":"2","key":"23_CR14","doi-asserted-by":"crossref","first-page":"293","DOI":"10.1109\/TAC.2008.2010897","volume":"54","author":"HS Su","year":"2009","unstructured":"Su, H.S., Wang, X.F., Lin, Z.L.: Flocking for multi-agents with a virtual leader. IEEE Trans. Autom. Control. 54(2), 293\u2013307 (2009)","journal-title":"IEEE Trans. Autom. Control."},{"issue":"3","key":"23_CR15","doi-asserted-by":"crossref","first-page":"401","DOI":"10.1109\/TAC.2005.864190","volume":"51","author":"R Olfati-Saber","year":"2006","unstructured":"Olfati-Saber, R.: Flocking for multi-agent dynamic systems: algorithms and theory. IEEE Trans. Autom. Control. 51(3), 401\u2013420 (2006)","journal-title":"IEEE Trans. Autom. Control."},{"issue":"6","key":"23_CR16","doi-asserted-by":"crossref","first-page":"988","DOI":"10.1109\/TAC.2003.812781","volume":"48","author":"A Jadbabaie","year":"2003","unstructured":"Jadbabaie, A., Lin, J., Morse, A.S.: Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Trans. Autom. Control. 48(6), 988\u20131001 (2003)","journal-title":"IEEE Trans. Autom. Control."},{"issue":"4","key":"23_CR17","doi-asserted-by":"crossref","first-page":"742","DOI":"10.1109\/TRO.2010.2052169","volume":"26","author":"H Bai","year":"2010","unstructured":"Bai, H., Wen, J.T.: Cooperative load transport: a formation-control perspective. IEEE Trans. Robot. 26(4), 742\u2013750 (2010)","journal-title":"IEEE Trans. Robot."},{"issue":"6","key":"23_CR18","doi-asserted-by":"crossref","first-page":"48","DOI":"10.1109\/MCS.2008.929280","volume":"28","author":"BD Anderson","year":"2008","unstructured":"Anderson, B.D., Yu, C., Fidan, B., Hendrickx, J.: Rigid graph control architectures for autonomous formations. IEEE Control. Syst. Mag. 28(6), 48\u201363 (2008)","journal-title":"IEEE Control. Syst. Mag."},{"issue":"4","key":"23_CR19","first-page":"223","volume":"3","author":"T Eren","year":"2004","unstructured":"Eren, T., Anderson, B.D., Morse, A.S., Whiteley, W., Belhumeur, P.N.: Operations on rigid formations of autonomous agents. Commun. Inf. Syst. 3(4), 223\u2013258 (2004)","journal-title":"Commun. Inf. Syst."},{"issue":"3","key":"23_CR20","doi-asserted-by":"crossref","first-page":"387","DOI":"10.1016\/j.automatica.2006.08.025","volume":"43","author":"C Yu","year":"2007","unstructured":"Yu, C., Hendrickxc, J.M., Fidana, B., Anderson, B.D., Blondel, V.D.: Three and higher dimensional autonomous formations: rigidity, persistence and structural persistence. Automatica 43(3), 387\u2013402 (2007)","journal-title":"Automatica"},{"issue":"8","key":"23_CR21","doi-asserted-by":"crossref","first-page":"3104","DOI":"10.1088\/1674-1056\/18\/8\/002","volume":"18","author":"XY Luo","year":"2009","unstructured":"Luo, X.Y., Li, S.B., Guan, X.P.: Automatic generation of minweighted persistent formations. Chin. Phys. B 18(8), 3104\u20133114 (2009)","journal-title":"Chin. Phys. B"},{"key":"23_CR22","volume-title":"Control of Robot Manipulators in Joint Space","author":"R Kelly","year":"2005","unstructured":"Kelly, R., Santib\u00e1\u00f1ez, V., Loria, A.: Control of Robot Manipulators in Joint Space. Springer, New York (2005)"},{"key":"23_CR23","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4613-0163-9","volume-title":"Algebraic Graph Theory","author":"C Godsil","year":"2001","unstructured":"Godsil, C., Royle, G.: Algebraic Graph Theory. Springer, New York (2001)"},{"key":"23_CR24","doi-asserted-by":"crossref","unstructured":"Beard, R.W., Stepanyan, V.: Information consensus in distributed multiple vehicle coordinated control. In: Processing of IEEE Control and Decision Conference, pp. 2029\u20132034 (2003)","DOI":"10.1109\/CDC.2003.1272913"},{"issue":"4","key":"23_CR25","doi-asserted-by":"crossref","first-page":"660","DOI":"10.1109\/TWC.2002.804190","volume":"1","author":"WB Heinzelman","year":"2002","unstructured":"Heinzelman, W.B., Chandrakasan, A.P., Balakrishnan, H.: An application-specific protocol architecture for wireless microsensor networks. IEEE Trans. Wirel. Commun. 1(4), 660\u2013670 (2002)","journal-title":"IEEE Trans. Wirel. Commun."},{"issue":"11","key":"23_CR26","doi-asserted-by":"crossref","first-page":"1508","DOI":"10.1109\/TMC.2010.116","volume":"9","author":"CJ Merlin","year":"2010","unstructured":"Merlin, C.J., Heinzelman, W.B.: Duty cycle control for low-power-listening MAC protocols. IEEE Trans. Mob. Comput. 9(11), 1508\u20131521 (2010)","journal-title":"IEEE Trans. Mob. Comput."}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-014-0023-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-014-0023-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-014-0023-z","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,1]],"date-time":"2025-05-01T16:36:33Z","timestamp":1746117393000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-014-0023-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,1,23]]},"references-count":26,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2014,11]]}},"alternative-id":["23"],"URL":"https:\/\/doi.org\/10.1007\/s10846-014-0023-z","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,1,23]]}}}