{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,4]],"date-time":"2026-02-04T14:49:20Z","timestamp":1770216560475,"version":"3.49.0"},"reference-count":21,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[1999,9,1]],"date-time":"1999-09-01T00:00:00Z","timestamp":936144000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1999,9]]},"abstract":"<jats:p> This paper presents a novel feedback-control law for coordinating the motion of multiple holonomic mobile robots to capture\/enclose a target by making troop formations. This motion coordination is a cooperative behavior for security against invaders in surveillance areas. Each robot in this control law has its own coordinate system and it senses a target\/invader, other robots and obstacles, to achieve this cooperative behavior without making any collision. Although there is no centralized controller and each robot has local feedback that is relative-position feedback, all the robots are asymptotically stabilized, and they make formations enclosing a target. Each robot especially has a vector referred to as a \u201cformation vector,\u201d and the formations are controllable by the vectors. As for determining the formation vectors, we use a reactive-control framework in which robots have some reactions heuristically designed according to this cooperative behavior. Therefore, this robotic system is a hybrid system that consists of a feedback-control law and a reactive-control framework. The validity of this hybrid system is supported by computer simulations. <\/jats:p>","DOI":"10.1177\/02783649922066664","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T06:59:46Z","timestamp":1058597986000},"page":"931-940","source":"Crossref","is-referenced-by-count":162,"title":["A Cooperative Hunting Behavior by Mobile-Robot Troops"],"prefix":"10.1177","volume":"18","author":[{"given":"Hiroaki","family":"Yamaguchi","sequence":"first","affiliation":[{"name":"Department of Mechano-Informatics, The University of Tokyo, Hongo 7-3-1,                         Bunkyo-ku, Tokyo 113, Japan"}]}],"member":"179","published-online":{"date-parts":[[1999,9,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"crossref","unstructured":"Arkin, R. C. 1989. Motor shema-based mobile-robot navigation . Intl. J. Robot. Res. 8(4): 92\u2013112 .","DOI":"10.1177\/027836498900800406"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620090304"},{"key":"atypb3","doi-asserted-by":"crossref","unstructured":"Borenstein, J., and Koren, Y. 1989. Real-time obstacle avoidance for fast mobile robots . IEEE Trans. Robot. Automat. 19(5): 1179\u20131187 .","DOI":"10.1109\/21.44033"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087032"},{"key":"atypb5","doi-asserted-by":"crossref","unstructured":"Brooks, R. A., Maes, P., Mataric, M. J., and More, G. 1990 (Tsuchiura, Japan). Lunar-base construction robots. Proc. of the 1990 IEEE\/RSJ Intl. Wkshp. on Intell. Robots and Sys, (IROS\u201990). Los Alamitos, CA: IEEE , pp. 389\u2013392.","DOI":"10.1109\/IROS.1990.262415"},{"key":"atypb6","doi-asserted-by":"crossref","unstructured":"Fukuda, T., and Ueyama, T. 1994. Cellular robotics and micro robotic systems. In World Scientific Series in Robotics and Automated Systems, vol. 10. Singapore: World Scientific .","DOI":"10.1142\/9789814354356"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1007\/BF00735438"},{"key":"atypb8","doi-asserted-by":"crossref","unstructured":"Khatib, O. 1980. Real-time obstacle avoidance for manipulators and mobile robots . Intl. J. Robot. Res. 5(1): 90\u201398 .","DOI":"10.1177\/027836498600500106"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199611)13:11<755::AID-ROB6>3.0.CO;2-U"},{"key":"atypb10","unstructured":"Kodama, S., and Suda, N. 1978. Matrix theory for system control. Soc. of Instrument and Control Engineers (SICE). (In Japanese.)"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008859119831"},{"key":"atypb12","doi-asserted-by":"crossref","unstructured":"Kuniyoshi, Y., Rougeaux, S., Ishii, M., Kita, N., Sakane, S., and Kakikura, M. 1994 (San Diego, CA). Cooperation by observation: The framework and basic task patterns . Proc. of the 1994 IEEE Intl. Conf. on Robot. and Automat. (ICRA\u201994).Washington, DC: IEEE, pp. 767\u2013774 .","DOI":"10.1109\/ROBOT.1994.351395"},{"key":"atypb13","doi-asserted-by":"crossref","unstructured":"Latombe, J.C. 1990. Robot Motion Planning. Boston, MA: Kluwer Academic .","DOI":"10.1007\/978-1-4615-4022-9"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1177\/105971239500400104"},{"key":"atypb15","doi-asserted-by":"crossref","unstructured":"Mataric, M. J., Nilsson, M., and Simsarin, K. T. 1995 (Pittsburgh, PA). Cooperative multirobot box pushing. Proc. of the 1995 IEEE\/RSJ Intl. Conf. on Intell. Robots and Sys. (IROS\u201995). Washington, DC: IEEE , pp. 556\u2013561.","DOI":"10.1109\/IROS.1995.525940"},{"key":"atypb16","doi-asserted-by":"crossref","unstructured":"Orwig, T. 1993. Cybermotion\u2019s roving robots . Industrial Robot 20(3): 27\u201329 .","DOI":"10.1108\/eb004588"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1145\/37402.37406"},{"key":"atypb18","doi-asserted-by":"crossref","unstructured":"Yamaguchi, H. 1997 (Albuquerque, NM). Adaptive formation control for distributed autonomous mobile-robot groups. Proc. of the 1997 IEEE Intl. Conf. on Robot. and Automat. (ICRA\u201997). Washington, DC: IEEE , pp. 2300\u20132305.","DOI":"10.1109\/ROBOT.1997.619305"},{"key":"atypb19","doi-asserted-by":"crossref","unstructured":"Yamaguchi, H. 1998a (Leuven, Belgium). A cooperative hunting behavior by mobile-robot troops. Proc. of the 1998 IEEE Intl. Conf. on Robot. and Automat. (ICRA\u201998). Washington, DC: IEEE , pp. 3204\u20133209.","DOI":"10.1109\/ROBOT.1998.680918"},{"key":"atypb20","doi-asserted-by":"crossref","unstructured":"Yamaguchi, H. 1998b (San Diego, CA). A cooperative hunting behavior by multiple nonholonomic mobile robots. Proc. of the 1998 IEEE Intl. Conf. on Sys. Man and Cybernet. (SMC\u201998). Washington, DC: IEEE , pp. 3347\u20133352.","DOI":"10.1109\/ICSMC.1998.726520"},{"key":"atypb21","doi-asserted-by":"crossref","unstructured":"Yamaguchi, H., and Burdick, J. W. 1998 (Leuven, Belgium). Asymptotic stabilization of multiple nonholonomic mobile robots forming group formations. Proc. of the 1998 IEEE Intl. Conf. on Robot. and Automat. (ICRA\u201998). Washington, DC: IEEE , pp. 3573\u20133580.","DOI":"10.1109\/ROBOT.1998.681022"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649922066664","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649922066664","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,27]],"date-time":"2025-01-27T23:14:33Z","timestamp":1738019673000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/02783649922066664"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1999,9]]},"references-count":21,"journal-issue":{"issue":"9","published-print":{"date-parts":[[1999,9]]}},"alternative-id":["10.1177\/02783649922066664"],"URL":"https:\/\/doi.org\/10.1177\/02783649922066664","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1999,9]]}}}