{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T04:11:34Z","timestamp":1750306294077,"version":"3.41.0"},"publisher-location":"New York, NY, USA","reference-count":32,"publisher":"ACM","license":[{"start":{"date-parts":[[2016,6,29]],"date-time":"2016-06-29T00:00:00Z","timestamp":1467158400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2016,6,29]]},"DOI":"10.1145\/2910674.2910676","type":"proceedings-article","created":{"date-parts":[[2016,11,18]],"date-time":"2016-11-18T15:41:05Z","timestamp":1479483665000},"page":"1-8","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["Joint Behavioural Control of Autonomous Multi-Robot Systems for Lead-Follower Formation to Improve Human-Robot Interaction"],"prefix":"10.1145","author":[{"given":"M. Udochu","family":"Nnennaya","sequence":"first","affiliation":[{"name":"Advanced Controls and Sensors Group, University of Texas-Arlington Research Institute, Arlington, TX, USA and Intel Corporation, Hillsboro, Oregon, USA"}]},{"given":"Etse-Oghena","family":"Akpaibor","sequence":"additional","affiliation":[{"name":"Advanced Controls and Sensors Group, University of Texas-Arlington Research Institute, Arlington, TX, USA"}]},{"given":"Akash P.","family":"Borate","sequence":"additional","affiliation":[{"name":"Advanced Controls and Sensors Group, University of Texas-Arlington Research Institute, Arlington, TX, USA"}]},{"given":"Aakash G.","family":"Deshpande","sequence":"additional","affiliation":[{"name":"Advanced Controls and Sensors Group, University of Texas-Arlington Research Institute, Arlington, TX, USA"}]},{"given":"Frank","family":"Lewis","sequence":"additional","affiliation":[{"name":"Advanced Controls and Sensors Group, University of Texas-Arlington Research Institute, Arlington, TX, USA"}]}],"member":"320","published-online":{"date-parts":[[2016,6,29]]},"reference":[{"key":"e_1_3_2_1_1_1","first-page":"1","volume-title":"2013 21st Iranian Conference on, vol., no.","author":"Aghaeeyan A.","year":"2013","unstructured":"Aghaeeyan , A. ; Abdollahi , F. ; Talebi , H.A. , \" Robust cooperative control in the presence of obstacles,\" Electrical Engineering (ICEE) , 2013 21st Iranian Conference on, vol., no. , pp. 1 ,6, 14-16 May 2013 Aghaeeyan, A.; Abdollahi, F.; Talebi, H.A., \"Robust cooperative control in the presence of obstacles,\" Electrical Engineering (ICEE), 2013 21st Iranian Conference on, vol., no., pp. 1,6, 14-16 May 2013"},{"key":"e_1_3_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2006.1678135"},{"key":"e_1_3_2_1_3_1","first-page":"494","volume-title":"ICSC 2008. Asia Simulation Conference - 7th International Conference on, vol., no.","author":"Phan C.","year":"2008","unstructured":"Phan , C. ; Liu , H.H.T. , \"A cooperative UAV\/UGV platform for wildfire detection and fighting,\" System Simulation and Scientific Computing, 2008 . ICSC 2008. Asia Simulation Conference - 7th International Conference on, vol., no. , pp. 494 ,498, 10-12 Oct. 2008 Phan, C.; Liu, H.H.T., \"A cooperative UAV\/UGV platform for wildfire detection and fighting,\" System Simulation and Scientific Computing, 2008. ICSC 2008. Asia Simulation Conference - 7th International Conference on, vol., no., pp. 494,498, 10-12 Oct. 2008"},{"key":"e_1_3_2_1_4_1","doi-asserted-by":"crossref","unstructured":"Chaimowicz L. Cowley A. Gomez-Ibanez D. Grocholsky B. Hsieh M.A. Hsu H. Keller J.F. Kumar V. Swaminathan R. Taylor C. J. Deploying air-ground multi-robot teams in urban environments MultiRobot Systems. From Swarms to Intelligent Automata. Vol III 223-- 234.  Chaimowicz L. Cowley A. Gomez-Ibanez D. Grocholsky B. Hsieh M.A. Hsu H. Keller J.F. Kumar V. Swaminathan R. Taylor C. J. Deploying air-ground multi-robot teams in urban environments MultiRobot Systems. From Swarms to Intelligent Automata. Vol III 223-- 234.","DOI":"10.1007\/1-4020-3389-3_18"},{"key":"e_1_3_2_1_5_1","first-page":"1","volume-title":"2013 16th International Conference on, vol., no.","author":"Brandao A.S.","year":"2013","unstructured":"Brandao , A.S. ; Sarcinelli-Filho , M. ; Carelli , R. , \" Leader -following control of a UAV-UGV formation,\" Advanced Robotics (ICAR) , 2013 16th International Conference on, vol., no. , pp. 1 ,6, 25-29 Nov. 2013 Brandao, A.S.; Sarcinelli-Filho, M.; Carelli, R., \"Leader-following control of a UAV-UGV formation,\" Advanced Robotics (ICAR), 2013 16th International Conference on, vol., no., pp. 1,6, 25-29 Nov. 2013"},{"key":"e_1_3_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11431-010-0122-4"},{"key":"e_1_3_2_1_7_1","first-page":"39","volume-title":"ICAL 2008. IEEE International Conference on, vol., no.","author":"Ben Yun","year":"2008","unstructured":"Ben Yun ; Chen, B.M.; Lum , K.Y. ; Lee , T.H. , \"A leader-follower the formation flight control scheme for UAV helicopters,\" Automation and Logistics, 2008 . ICAL 2008. IEEE International Conference on, vol., no. , pp. 39 ,44, 1-3 Sept. 2008 Ben Yun; Chen, B.M.; Lum, K.Y.; Lee, T.H., \"A leader-follower the formation flight control scheme for UAV helicopters,\" Automation and Logistics, 2008. ICAL 2008. IEEE International Conference on, vol., no., pp. 39,44, 1-3 Sept. 2008"},{"key":"e_1_3_2_1_8_1","volume-title":"Location and Navigation Symposium","author":"Frietsch N.","year":"2008","unstructured":"Frietsch , N. ; Meister , O. ; Schlaile , C. ; Trommer , G.F. , \" Teaming of an UGV with a VTOL-UAV in urban environments,\" Position , Location and Navigation Symposium , 2008 IEEE\/ION, vol., no., pp. 1278,1285, 5-8 May 2008 Frietsch, N.; Meister, O.; Schlaile, C.; Trommer, G.F., \"Teaming of an UGV with a VTOL-UAV in urban environments,\" Position, Location and Navigation Symposium, 2008 IEEE\/ION, vol., no., pp. 1278,1285, 5-8 May 2008"},{"key":"e_1_3_2_1_9_1","first-page":"1","volume-title":"2013 IEEE International Symposium on, vol., no.","author":"Langerwisch M.","year":"2013","unstructured":"Langerwisch , M. ; Wittmann , T. ; Thamke , S. ; Remmersmann , T. ; Tiderko , A. ; Wagner , B. , \" Heterogeneous teams of unmanned ground and aerial robots for reconnaissance and surveillance - A field experiment,\" Safety, Security, and Rescue Robotics (SSRR) , 2013 IEEE International Symposium on, vol., no. , pp. 1 ,6, 21-26 Oct. 2013 Langerwisch, M.; Wittmann, T.; Thamke, S.; Remmersmann, T.; Tiderko, A.; Wagner, B., \"Heterogeneous teams of unmanned ground and aerial robots for reconnaissance and surveillance - A field experiment,\" Safety, Security, and Rescue Robotics (SSRR), 2013 IEEE International Symposium on, vol., no., pp. 1,6, 21-26 Oct. 2013"},{"key":"e_1_3_2_1_10_1","first-page":"5895","volume-title":"tracking and landing of a UAV on a moving UGV using onboard monocular vision,\" Control Conference (CCC)","author":"Cheng Hui","year":"2013","unstructured":"Cheng Hui ; Chen Yousheng; Li Xiaokun; Wong Wing Shing, \" Autonomous takeoff , tracking and landing of a UAV on a moving UGV using onboard monocular vision,\" Control Conference (CCC) , 2013 32nd Chinese , vol., no., pp. 5895 -- 5901 , 26-28 July 2013 Cheng Hui; Chen Yousheng; Li Xiaokun; Wong Wing Shing, \"Autonomous takeoff, tracking and landing of a UAV on a moving UGV using onboard monocular vision,\" Control Conference (CCC), 2013 32nd Chinese, vol., no., pp. 5895--5901, 26-28 July 2013"},{"key":"e_1_3_2_1_11_1","first-page":"188","volume-title":"2013 IEEE 3rd International Conference on, vol., no.","author":"Noor M.Z.H.","year":"2013","unstructured":"Noor , M.Z.H. ; Zain , S.A.S.M. ; Mazalan , L. , \" Design and development of remote-operated multi-direction Unmanned Ground Vehicle (UGV),\" System Engineering and Technology (ICSET) , 2013 IEEE 3rd International Conference on, vol., no. , pp. 188 ,192, 19-20 Aug. 2013 Noor, M.Z.H.; Zain, S.A.S.M.; Mazalan, L., \"Design and development of remote-operated multi-direction Unmanned Ground Vehicle (UGV),\" System Engineering and Technology (ICSET), 2013 IEEE 3rd International Conference on, vol., no., pp. 188,192, 19-20 Aug. 2013"},{"key":"e_1_3_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/IHMSC.2012.144"},{"issue":"3","key":"e_1_3_2_1_13_1","first-page":"173","article-title":"Future Unmanned System Design for Reliable Military Operations","volume":"5","author":"Lee","year":"2012","unstructured":"J. P. Lee , \" Future Unmanned System Design for Reliable Military Operations \", International Journal of Control and Automation , vol. 5 , no. 3 ., pp. 173 -- 186 Sept. 2012 J. P. Lee, \"Future Unmanned System Design for Reliable Military Operations\", International Journal of Control and Automation, vol. 5, no.3., pp. 173--186 Sept. 2012","journal-title":"International Journal of Control and Automation"},{"key":"e_1_3_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/FGCN.2008.180"},{"key":"e_1_3_2_1_15_1","first-page":"417","volume-title":"vol., no","author":"Jianwei Gong","year":"2009","unstructured":"Jianwei Gong ; YulinDuan; Kai Liu; Yongdan Chen; GuangmingXiong; Huiyan Chen, \"A robust multistrategy unmanned ground vehicle navigation method using laser radar,\" Intelligent Vehicles Symposium , 2009 IEEE , vol., no ., pp. 417 ,424, 3-5 June 2009 Jianwei Gong; YulinDuan; Kai Liu; Yongdan Chen; GuangmingXiong; Huiyan Chen, \"A robust multistrategy unmanned ground vehicle navigation method using laser radar,\" Intelligent Vehicles Symposium, 2009 IEEE, vol., no., pp. 417,424, 3-5 June 2009"},{"key":"e_1_3_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/FGCN.2008.78"},{"key":"e_1_3_2_1_17_1","first-page":"3305","volume-title":"vol., no","author":"Habib M.K.","year":"2011","unstructured":"Habib , M.K. ; Baudoin , Y. ; Nagata , F. , \" Robotics for rescue and risky intervention,\" IECON 2011 - 37th Annual Conference on IEEE Industrial Electronics Society , vol., no ., pp. 3305 ,3310, 7-10 Nov. 2011 Habib, M.K.; Baudoin, Y.; Nagata, F., \"Robotics for rescue and risky intervention,\" IECON 2011 - 37th Annual Conference on IEEE Industrial Electronics Society, vol., no., pp. 3305,3310, 7-10 Nov. 2011"},{"key":"e_1_3_2_1_18_1","first-page":"1","volume-title":"2011 IEEE 5th International Conference on, vol., no.","author":"Singh S.","year":"2011","unstructured":"Singh , S. ; Ranjan , P. , \" Towards a new low cost, simple implementation using embedded system wireless networking for UAVs,\" Advanced Networks and Telecommunication Systems (ANTS) , 2011 IEEE 5th International Conference on, vol., no. , pp. 1 ,3, 18-21 Dec. 2011 Singh, S.; Ranjan, P., \"Towards a new low cost, simple implementation using embedded system wireless networking for UAVs,\" Advanced Networks and Telecommunication Systems (ANTS), 2011 IEEE 5th International Conference on, vol., no., pp. 1,3, 18-21 Dec. 2011"},{"key":"e_1_3_2_1_19_1","first-page":"428","volume-title":"2010 IEEE International Conference on, vol., no.","author":"Guyu Zhang","year":"2010","unstructured":"Guyu Zhang ; Duncan, C.; Kanno , J. ; Selmic , R. , \" Unmanned ground vehicle navigation in coordinate-free and localization-free Wireless Sensor and Acutuator Networks,\" Control Applications (CCA) , 2010 IEEE International Conference on, vol., no. , pp. 428 ,433, 8-10 Sept. 2010 Guyu Zhang; Duncan, C.; Kanno, J.; Selmic, R., \"Unmanned ground vehicle navigation in coordinate-free and localization-free Wireless Sensor and Acutuator Networks,\" Control Applications (CCA), 2010 IEEE International Conference on, vol., no., pp. 428,433, 8-10 Sept. 2010"},{"key":"e_1_3_2_1_20_1","first-page":"2490","volume-title":"ICAL 2008. IEEE International Conference on, vol., no.","author":"XiaolingLv","year":"2008","unstructured":"XiaolingLv ; Minglu Zhang; Hui Li, \" Robot control based on voice command,\" Automation and Logistics, 2008 . ICAL 2008. IEEE International Conference on, vol., no. , pp. 2490 ,2494, 1-3 Sept. 2008 XiaolingLv; Minglu Zhang; Hui Li, \"Robot control based on voice command,\" Automation and Logistics, 2008. ICAL 2008. IEEE International Conference on, vol., no., pp. 2490,2494, 1-3 Sept. 2008"},{"key":"e_1_3_2_1_21_1","first-page":"5","volume-title":"2005 IEEE International Conference on, vol., no.","author":"Liu P.X.","year":"2005","unstructured":"Liu , P.X. ; Chan , A.D.C. ; Chen , R. ; Wang , K. ; Zhu , Y. , \" Voice based robot control,\" Information Acquisition , 2005 IEEE International Conference on, vol., no. , pp. 5 pp.,, 27 June -3 July 2005 Liu, P.X.; Chan, A.D.C.; Chen, R.; Wang, K.; Zhu, Y., \"Voice based robot control,\" Information Acquisition, 2005 IEEE International Conference on, vol., no., pp. 5 pp.,, 27 June-3 July 2005"},{"key":"e_1_3_2_1_22_1","first-page":"189","volume-title":"SISY 2007. 5th International Symposium on, vol., no.","author":"Kuljic B.","year":"2007","unstructured":"Kuljic , B. ; Janos , S. ; Tibor , S. , \" Mobile robot controlled by voice,\" Intelligent Systems and Informatics, 2007 . SISY 2007. 5th International Symposium on, vol., no. , pp. 189 ,192, 24-25 Aug. 2007 Kuljic, B.; Janos, S.; Tibor, S., \"Mobile robot controlled by voice,\" Intelligent Systems and Informatics, 2007. SISY 2007. 5th International Symposium on, vol., no., pp. 189,192, 24-25 Aug. 2007"},{"key":"e_1_3_2_1_23_1","first-page":"20","article-title":"Speech recognition by intelligent machines","volume":"38","author":"Tolba","year":"2001","unstructured":"Tolba , Hesham, and Douglas O'Shaughnessy . \" Speech recognition by intelligent machines .\" IEEE Canadian Review 38 ( 2001 ): 20 -- 23 . Tolba, Hesham, and Douglas O'Shaughnessy. \"Speech recognition by intelligent machines.\" IEEE Canadian Review 38 (2001): 20--23.","journal-title":"IEEE Canadian Review"},{"key":"e_1_3_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/AQTR.2010.5520914"},{"key":"e_1_3_2_1_25_1","first-page":"1","volume-title":"2011 IEEE International Conference on, vol., no.","author":"Madgwick S.O.H.","year":"2011","unstructured":"Madgwick , S.O.H. ; Harrison , A.J.L. ; Vaidyanathan , R. , \" Estimation of IMU and MARG orientation using a gradient descent algorithm,\" Rehabilitation Robotics (ICORR) , 2011 IEEE International Conference on, vol., no. , pp. 1 ,7, June 29 2011 -July 1 2011 Madgwick, S.O.H.; Harrison, A.J.L.; Vaidyanathan, R., \"Estimation of IMU and MARG orientation using a gradient descent algorithm,\" Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on, vol., no., pp. 1,7, June 29 2011-July 1 2011"},{"key":"e_1_3_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.1145\/325334.325242"},{"key":"e_1_3_2_1_27_1","first-page":"261","volume-title":"9th IEEE International Workshop on, vol., no.","author":"Fezari M.","unstructured":"Fezari , M. ; Bousbia-Salah , M. , \"A voice command system for autonomous robots guidance,\" Advanced Motion Control, 2006 . 9th IEEE International Workshop on, vol., no. , pp. 261 ,265, 0--00 Fezari, M.; Bousbia-Salah, M., \"A voice command system for autonomous robots guidance,\" Advanced Motion Control, 2006. 9th IEEE International Workshop on, vol., no., pp. 261,265, 0--00"},{"key":"e_1_3_2_1_28_1","first-page":"641","volume-title":"2014 11th International Conference on, vol., no.","author":"Jae-Keun Lee","year":"2014","unstructured":"Jae-Keun Lee ; Hahmin Jung; Huosheng Hu; Dong Hun Kim, \"Collaborative control of UAV\/UGV,\" Ubiquitous Robots and Ambient Intelligence (URAI) , 2014 11th International Conference on, vol., no. , pp. 641 ,645, 12-15 Nov. 2014 Jae-Keun Lee; Hahmin Jung; Huosheng Hu; Dong Hun Kim, \"Collaborative control of UAV\/UGV,\" Ubiquitous Robots and Ambient Intelligence (URAI), 2014 11th International Conference on, vol., no., pp. 641,645, 12-15 Nov. 2014"},{"key":"e_1_3_2_1_29_1","first-page":"4286","volume-title":"2013 32nd Chinese, vol., no","author":"Kong Kam Fong","year":"2013","unstructured":"Kong Kam Fong ; Li Yangmin, \" Mobile manipulator control based on voice and visual signal,\" Control Conference (CCC) , 2013 32nd Chinese, vol., no ., pp. 4286 ,4291, 26-28 July 2013 Kong Kam Fong; Li Yangmin, \"Mobile manipulator control based on voice and visual signal,\" Control Conference (CCC), 2013 32nd Chinese, vol., no., pp. 4286,4291, 26-28 July 2013"},{"key":"e_1_3_2_1_30_1","first-page":"189","volume-title":"2014 IEEE International Conference on, vol., no.","author":"Saha S.","year":"2014","unstructured":"Saha , S. ; Natraj , A. ; Waharte , S. , \"A real-time monocular vision-based frontal obstacle detection and avoidance for low cost UAVs in GPS denied environment,\" Aerospace Electronics and Remote Sensing Technology (ICARES) , 2014 IEEE International Conference on, vol., no. , pp. 189 ,195, 13-14 Nov. 2014 Saha, S.; Natraj, A.; Waharte, S., \"A real-time monocular vision-based frontal obstacle detection and avoidance for low cost UAVs in GPS denied environment,\" Aerospace Electronics and Remote Sensing Technology (ICARES), 2014 IEEE International Conference on, vol., no., pp. 189,195, 13-14 Nov. 2014"},{"key":"e_1_3_2_1_31_1","first-page":"960","volume-title":"Proceedings. 2004 International Conference on, vol., no.","author":"Luo Zhizeng","year":"2004","unstructured":"Luo Zhizeng ; Zhao Jingbing, \" Speech recognition and its application in voice-based robot control system,\" Intelligent Mechatronics and Automation, 2004 . Proceedings. 2004 International Conference on, vol., no. , pp. 960 ,963, Aug. 26-31, 2004 Luo Zhizeng; Zhao Jingbing, \"Speech recognition and its application in voice-based robot control system,\" Intelligent Mechatronics and Automation, 2004. Proceedings. 2004 International Conference on, vol., no., pp. 960,963, Aug. 26-31, 2004"},{"key":"e_1_3_2_1_32_1","unstructured":"http:\/\/cmusphinx.sourceforge.net\/sphinx4 (last access 02-01-2016)  http:\/\/cmusphinx.sourceforge.net\/sphinx4 (last access 02-01-2016)"}],"event":{"name":"PETRA '16: 9th ACM International Conference on PErvasive Technologies Related to Assistive Environments","acronym":"PETRA '16","location":"Corfu Island Greece"},"container-title":["Proceedings of the 9th ACM International Conference on PErvasive Technologies Related to Assistive Environments"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2910674.2910676","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/2910674.2910676","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T04:39:09Z","timestamp":1750221549000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2910674.2910676"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,6,29]]},"references-count":32,"alternative-id":["10.1145\/2910674.2910676","10.1145\/2910674"],"URL":"https:\/\/doi.org\/10.1145\/2910674.2910676","relation":{},"subject":[],"published":{"date-parts":[[2016,6,29]]},"assertion":[{"value":"2016-06-29","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}