{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,10]],"date-time":"2026-02-10T07:16:44Z","timestamp":1770707804548,"version":"3.49.0"},"reference-count":42,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2019,7,5]],"date-time":"2019-07-05T00:00:00Z","timestamp":1562284800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2019,7,5]],"date-time":"2019-07-05T00:00:00Z","timestamp":1562284800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/100000104","name":"National Aeronautics and Space Administration","doi-asserted-by":"publisher","award":["NNX15AN94A"],"award-info":[{"award-number":["NNX15AN94A"]}],"id":[{"id":"10.13039\/100000104","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000104","name":"National Aeronautics and Space Administration","doi-asserted-by":"publisher","award":["NNX15AN04A"],"award-info":[{"award-number":["NNX15AN04A"]}],"id":[{"id":"10.13039\/100000104","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2020,1]]},"DOI":"10.1007\/s10846-019-01057-3","type":"journal-article","created":{"date-parts":[[2019,7,5]],"date-time":"2019-07-05T06:14:46Z","timestamp":1562307286000},"page":"205-225","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["Control of Multi-Agent Collaborative Fixed-Wing UASs in Unstructured Environment"],"prefix":"10.1007","volume":"97","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3615-6731","authenticated-orcid":false,"given":"A Ram","family":"Kim","sequence":"first","affiliation":[]},{"given":"Shawn","family":"Keshmiri","sequence":"additional","affiliation":[]},{"given":"Aaron","family":"Blevins","sequence":"additional","affiliation":[]},{"given":"Daksh","family":"Shukla","sequence":"additional","affiliation":[]},{"given":"Weizheng","family":"Huang","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2019,7,5]]},"reference":[{"key":"1057_CR1","doi-asserted-by":"crossref","unstructured":"Alonso-Mora, J., Breitenmoser, A., Rufli, M., Siegwart, R., Beardsley, P.: Multi-robot system for artistic pattern formation. In: 2011 IEEE international conference on robotics and automation, pp. 4512\u20134517. IEEE (2011)","DOI":"10.1109\/ICRA.2011.5980269"},{"issue":"6","key":"1057_CR2","doi-asserted-by":"publisher","first-page":"753","DOI":"10.1177\/0278364912442095","volume":"31","author":"J Alonso-Mora","year":"2012","unstructured":"Alonso-Mora, J., Breitenmoser, A., Rufli, M., Siegwart, R., Beardsley, P.: Image and animation display with multiple mobile robots. Int. J. Robot. Res. 31(6), 753\u2013773 (2012)","journal-title":"Int. J. Robot. Res."},{"issue":"12","key":"1057_CR3","doi-asserted-by":"publisher","first-page":"5763","DOI":"10.1109\/TIE.2012.2235391","volume":"60","author":"I Bayezit","year":"2013","unstructured":"Bayezit, I., Fidan, B.: Distributed cohesive motion control of flight vehicle formations. IEEE Trans. Ind. Electron. 60(12), 5763\u20135772 (2013)","journal-title":"IEEE Trans. Ind. Electron."},{"key":"1057_CR4","doi-asserted-by":"crossref","unstructured":"Bayraktar, S., Fainekos, G.E., Pappas, G.J.: Experimental cooperative control of fixed-wing unmanned aerial vehicles. In: 2004 43rd IEEE conference on decision and control (CDC)(IEEE Cat. No. 04CH37601), vol. 4, pp. 4292\u20134298. IEEE (2004)","DOI":"10.1109\/CDC.2004.1429426"},{"key":"1057_CR5","doi-asserted-by":"crossref","unstructured":"Boskovic, J.D., Li, S.M., Mehra, R.K.: Formation flight control design in the presence of unknown leader commands. In: Proceedings of the 2002 American control conference (IEEE Cat. No. CH37301), vol. 4, pp. 2854\u20132859. IEEE (2002)","DOI":"10.1109\/ACC.2002.1025222"},{"key":"1057_CR6","doi-asserted-by":"crossref","unstructured":"Chuang, Y.L., Huang, Y.R., D\u2019Orsogna, M.R., Bertozzi, A.L.: Multi-vehicle flocking: scalability of cooperative control algorithms using pairwise potentials. In: Proceedings 2007 IEEE international conference on robotics and automation, pp. 2292\u20132299. IEEE (2007)","DOI":"10.1109\/ROBOT.2007.363661"},{"issue":"1","key":"1057_CR7","doi-asserted-by":"publisher","first-page":"247","DOI":"10.1016\/j.sysconle.2011.10.018","volume":"61","author":"KD Do","year":"2012","unstructured":"Do, K.D.: Coordination control of multiple ellipsoidal agents with collision avoidance and limited sensing ranges. Syst. Control Lett. 61(1), 247\u2013257 (2012)","journal-title":"Syst. Control Lett."},{"key":"1057_CR8","doi-asserted-by":"crossref","unstructured":"Garcia, G., Keshmiri, S.: Nonlinear model predictive controller for navigation, guidance and control of a fixed-wing uav. In: AIAA guidance, navigation, and control conference, guidance, navigation, and control and Co-located conferences (2011)","DOI":"10.2514\/6.2011-6310"},{"key":"1057_CR9","doi-asserted-by":"crossref","unstructured":"Gilles, J., Sharma, B.R., Ferenc, W., Kastein, H., Lieu, L., Wilson, R., Huang, Y.R., Bertozzi, A.L., HomChaudhuri, B., Ramakrishnan, S., et al.: Robot swarming over the internet. In: 2012 American control conference (ACC), pp. 6065\u20136070. IEEE (2012)","DOI":"10.1109\/ACC.2012.6315420"},{"key":"1057_CR10","unstructured":"Gonzalez, M., Huang, X., Martinez, D.S.H., Hsieh, C.H., Huang, Y.R., Irvine, B., Short, M.B., Bertozzi, A.L.: A third generation micro-vehicle testbed for cooperative control and sensing strategies. In: ICINCO (2), pp. 14\u201320 (2011)"},{"key":"1057_CR11","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4419-7916-2","volume-title":"Adaptive moving mesh methods","author":"W Huang","year":"2011","unstructured":"Huang, W., Russell, R.D.: Adaptive moving mesh methods. Springer, New York (2011)"},{"key":"1057_CR12","doi-asserted-by":"publisher","unstructured":"Hui, M.Y., Yang, C.Q., Xi, H.Z., Zheng, G.: An improved nonlinear guidance law for unmanned aerial vehicles path following. In: 2015 34th Chinese control conference (CCC), pp. 5271\u20135276. \nhttps:\/\/doi.org\/10.1109\/ChiCC.2015.7260462\n\n (2015)","DOI":"10.1109\/ChiCC.2015.7260462"},{"key":"1057_CR13","unstructured":"Keshmiri, S., Kim, A., Blevins, A., Shukla, D.: Validation and verification flight test of uas morphing potential field collision avoidance algorithms. AIAA aviation and aeronautics forum and exposition (2018)"},{"key":"1057_CR14","doi-asserted-by":"publisher","unstructured":"Keshmiri, S., Kim, A.R., Shukla, D., Blevins, A., Ewing, M.: Flight test validation of collision and obstacle avoidance in fixed-wing uass with high speeds using morphing potential field. In: 2018 international conference on unmanned aircraft systems (ICUAS), pp. 589\u2013598. \nhttps:\/\/doi.org\/10.1109\/ICUAS.2018.8453299\n\n (2018)","DOI":"10.1109\/ICUAS.2018.8453299"},{"issue":"03","key":"1057_CR15","doi-asserted-by":"publisher","first-page":"227","DOI":"10.1142\/S2301385016500084","volume":"04","author":"AR Kim","year":"2016","unstructured":"Kim, A.R., Keshmiri, S., Huang, W., Garcia, G.: Guidance of multi-agent fixed-wing aircraft using a moving mesh method. Unmanned Systems 04(03), 227\u2013244 (2016). \nhttps:\/\/doi.org\/10.1142\/S2301385016500084","journal-title":"Unmanned Systems"},{"issue":"6","key":"1057_CR16","doi-asserted-by":"publisher","first-page":"1900","DOI":"10.1016\/j.automatica.2013.02.055","volume":"49","author":"Z Lin","year":"2013","unstructured":"Lin, Z., Ding, W., Yan, G., Yu, C., Giua, A.: Leader\u2013follower formation via complex laplacian. Automatica 49(6), 1900\u20131906 (2013)","journal-title":"Automatica"},{"key":"1057_CR17","unstructured":"Liu, W., Taima, Y.E., Short, M.B., Bertozzi, A.L.: Multi-scale collaborative searching through swarming. In: ICINCO (2), pp. 222\u2013231 (2010)"},{"issue":"3","key":"1057_CR18","doi-asserted-by":"publisher","first-page":"387","DOI":"10.1109\/TAC.2005.843858","volume":"50","author":"M Mesbahi","year":"2005","unstructured":"Mesbahi, M.: On state-dependent dynamic graphs and their controllability properties. IEEE Trans. Autom. Control 50(3), 387\u2013392 (2005)","journal-title":"IEEE Trans. Autom. Control"},{"issue":"3","key":"1057_CR19","doi-asserted-by":"publisher","first-page":"56","DOI":"10.1109\/MRA.2010.937855","volume":"17","author":"N Michael","year":"2010","unstructured":"Michael, N., Mellinger, D., Lindsey, Q., Kumar, V.: The grasp multiple micro-uav testbed. IEEE Robot. Autom. Mag. 17(3), 56\u201365 (2010)","journal-title":"IEEE Robot. Autom. Mag."},{"key":"1057_CR20","unstructured":"Nguyen, B.Q., Chuang, Y.L., Tung, D., Hsieh, C., Jin, Z., Shi, L., Marthaler, D., Bertozzi, A., Murray, R.M.: Virtual attractive-repulsive potentials for cooperative control of second order dynamic vehicles on the caltech mvwt. In: Proceedings of the 2005, American control conference, 2005., pp. 1084\u20131089. IEEE (2005)"},{"issue":"5","key":"1057_CR21","doi-asserted-by":"publisher","first-page":"1236","DOI":"10.1109\/TCST.2011.2167331","volume":"20","author":"N Nigam","year":"2012","unstructured":"Nigam, N., Bieniawski, S., Kroo, I., Vian, J.: Control of multiple uavs for persistent surveillance: algorithm and flight test results. IEEE Trans. Control Syst. Technol. 20(5), 1236\u20131251 (2012)","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"1057_CR22","unstructured":"Olfati-Saber, R., Murray, R.M.: Graph rigidity and distributed formation stabilization of multi-vehicle systems (2002)"},{"key":"1057_CR23","doi-asserted-by":"crossref","unstructured":"Park, S., Deyst, J., How, J.: A new nonlinear guidance logic for trajectory tracking. In: AIAA guidance, navigation, and control conference and exhibit, guidance, navigation, and control and Co-located conferences, pp. 1\u201316 (2004)","DOI":"10.2514\/6.2004-4900"},{"issue":"11","key":"1057_CR24","doi-asserted-by":"publisher","first-page":"2152","DOI":"10.1109\/TFUZZ.2019.2895560","volume":"27","author":"Jianbin Qiu","year":"2019","unstructured":"Qiu, J., Sun, K., Wang, T., Gao, H.: Observer-based fuzzy adaptive event-triggered control for pure-feedback nonlinear systems with prescribed performance. IEEE Trans. Fuzzy Syst. 1\u20131. \nhttps:\/\/doi.org\/10.1109\/TFUZZ.2019.2895560\n\n (2019)","journal-title":"IEEE Transactions on Fuzzy Systems"},{"issue":"1","key":"1057_CR25","doi-asserted-by":"publisher","first-page":"12985","DOI":"10.3182\/20110828-6-IT-1002.03720","volume":"44","author":"Ashwini Ratnoo","year":"2011","unstructured":"Ratnoo, A., Sujit, P., Kothari, M.: Adaptive optimal path following for high wind flights. In: Preprints of the 18th IFAC world congress, pp. 12985\u201312990 (2011)","journal-title":"IFAC Proceedings Volumes"},{"issue":"5","key":"1057_CR26","doi-asserted-by":"publisher","first-page":"655","DOI":"10.1109\/TAC.2005.846556","volume":"50","author":"W Ren","year":"2005","unstructured":"Ren, W., Beard, R.W.: Consensus seeking in multiagent systems under dynamically changing interaction topologies. IEEE Trans. Autom. Control 50(5), 655\u2013661 (2005)","journal-title":"IEEE Trans. Autom. Control"},{"issue":"5","key":"1057_CR27","doi-asserted-by":"publisher","first-page":"655","DOI":"10.1109\/TAC.2005.846556","volume":"50","author":"W Ren","year":"2005","unstructured":"Ren, W., Beard, R.W.: Consensus seeking in multiagent systems under dynamically changing interaction topologies. IEEE Trans. Autom. Control 50(5), 655\u2013661 (2005)","journal-title":"IEEE Trans. Autom. Control"},{"key":"1057_CR28","doi-asserted-by":"crossref","unstructured":"Ren, W., Cao, Y.: Distributed coordination of multi-agent networks: emergent problems, models, and issues. Springer Science & Business Media (2010)","DOI":"10.1007\/978-0-85729-169-1"},{"issue":"1","key":"1057_CR29","doi-asserted-by":"publisher","first-page":"347","DOI":"10.1109\/TIE.2013.2245612","volume":"61","author":"H Rezaee","year":"2014","unstructured":"Rezaee, H., Abdollahi, F.: A decentralized cooperative control scheme with obstacle avoidance for a team of mobile robots. IEEE Trans. Ind. Electron. 61(1), 347\u2013354 (2014)","journal-title":"IEEE Trans. Ind. Electron."},{"key":"1057_CR30","unstructured":"Roskam, J.: Airplane flight dynamics and automatic flight controls Part I. DARcorporation (2003)"},{"key":"1057_CR31","unstructured":"Saber, R.O., Dunbar, W.B., Murray, R.M.: Cooperative control of multi-vehicle systems using cost graphs and optimization. In: Proceedings of the 2003 American control conference, 2003., vol. 3, pp. 2217\u20132222. IEEE (2003)"},{"issue":"11","key":"1057_CR32","doi-asserted-by":"publisher","first-page":"2766","DOI":"10.1016\/j.automatica.2008.04.016","volume":"44","author":"E Semsar-Kazerooni","year":"2008","unstructured":"Semsar-Kazerooni, E., Khorasani, K.: Optimal consensus algorithms for cooperative team of agents subject to partial information. Automatica 44(11), 2766\u20132777 (2008)","journal-title":"Automatica"},{"issue":"3","key":"1057_CR33","doi-asserted-by":"publisher","first-page":"571","DOI":"10.1080\/00207170802195299","volume":"82","author":"E Semsar-Kazerooni","year":"2009","unstructured":"Semsar-Kazerooni, E., Khorasani, K.: An optimal cooperation in a team of agents subject to partial information. Int. J. Control. 82(3), 571\u2013583 (2009)","journal-title":"Int. J. Control."},{"key":"1057_CR34","unstructured":"Stastny, T.J., Garcia, G., Keshmiri, S.: Robust three-dimensional collision avoidance for fixed-wing unmanned aerial systems. \nhttps:\/\/arc.aiaa.org\/doi\/abs\/10.2514\/6.2015-1988"},{"key":"1057_CR35","doi-asserted-by":"crossref","unstructured":"Stevens, B.L., Lewis, F.L.: Aircraft control and simulation. J Wiley (2003)","DOI":"10.1108\/aeat.2004.12776eae.001"},{"issue":"8","key":"1057_CR36","doi-asserted-by":"publisher","first-page":"1587","DOI":"10.1109\/TFUZZ.2018.2883374","volume":"27","author":"Kangkang Sun","year":"2019","unstructured":"Sun, K., Mou, S., Qiu, J., Wang, T., Gao, H.: Adaptive fuzzy control for non-triangular structural stochastic switched nonlinear systems with full state constraints. IEEE Trans. Fuzzy Syst. 1\u20131. \nhttps:\/\/doi.org\/10.1109\/TFUZZ.2018.2883374\n\n (2018)","journal-title":"IEEE Transactions on Fuzzy Systems"},{"key":"1057_CR37","unstructured":"United States Government Accountability Office: Defense acquisitions assessments of selected weapon programs. \nhttps:\/\/www.gao.gov\/assets\/660\/653379.pdf\n\n (2013)"},{"key":"1057_CR38","unstructured":"Xi, X., Abed, E.H.: Formation control with virtual leaders and reduced communications. In: Proceedings of the 44th IEEE conference on decision and control, pp. 1854\u20131860. IEEE (2005)"},{"issue":"12","key":"1057_CR39","doi-asserted-by":"publisher","first-page":"1641","DOI":"10.1016\/j.robot.2013.07.001","volume":"61","author":"Junhao Xiao","year":"2013","unstructured":"Xiao, J., Zhang, J., Adler, B., Zhang, H., Zhang, J.: Three-dimensional point cloud plane segmentation in both structured and unstructured environments, vol. 61. \nhttp:\/\/www.sciencedirect.com\/science\/article\/pii\/S0921889013001152\n\n (2013)","journal-title":"Robotics and Autonomous Systems"},{"key":"1057_CR40","doi-asserted-by":"publisher","unstructured":"Xiao, J., Zhang, J., Zhang, J., Zhang, H., Hildre, H.P.: Fast plane detection for slam from noisy range images in both structured and unstructured environments. In: 2011 IEEE international conference on mechatronics and automation, pp. 1768\u20131773. \nhttps:\/\/doi.org\/10.1109\/ICMA.2011.5986247\n\n (2011)","DOI":"10.1109\/ICMA.2011.5986247"},{"key":"1057_CR41","doi-asserted-by":"crossref","unstructured":"Zheping, Y., Yibo, L., Jiajia, Z., Gengshi, Z.: Moving target following control of multi-auvs formation based on rigid virtual leader-follower under ocean current. In: 2015 34th Chinese control conference (CCC), pp. 5901\u20135906. IEEE (2015)","DOI":"10.1109\/ChiCC.2015.7260564"},{"key":"1057_CR42","doi-asserted-by":"crossref","unstructured":"Zunli, N., Xuejun, Z., Xiangmin, G.: Uav formation flight based on artificial potential force in 3d environment. In: 2017 29th Chinese control and decision conference (CCDC), pp. 5465\u20135470. IEEE (2017)","DOI":"10.1109\/CCDC.2017.7979468"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-019-01057-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-019-01057-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-019-01057-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,7,3]],"date-time":"2020-07-03T23:11:30Z","timestamp":1593817890000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-019-01057-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,7,5]]},"references-count":42,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2020,1]]}},"alternative-id":["1057"],"URL":"https:\/\/doi.org\/10.1007\/s10846-019-01057-3","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,7,5]]},"assertion":[{"value":"27 February 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"19 June 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"5 July 2019","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}