{"id":"https://openalex.org/W2128306397","doi":"https://doi.org/10.1109/auv.2004.1431191","title":"A leader-follower algorithm for multiple AUV formations","display_name":"A leader-follower algorithm for multiple AUV formations","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2128306397","doi":"https://doi.org/10.1109/auv.2004.1431191","mag":"2128306397"},"language":"en","primary_location":{"id":"doi:10.1109/auv.2004.1431191","doi":"https://doi.org/10.1109/auv.2004.1431191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/auv.2004.1431191","pdf_url":null,"source":{"id":"https://openalex.org/S4306422802","display_name":"IEEE/OES Autonomous Underwater Vehicles","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003404967","display_name":"Dean B. Edwards","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I155093810","display_name":"University of Idaho","ror":"https://ror.org/03hbp5t65","country_code":"US","type":"education","lineage":["https://openalex.org/I155093810"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D.B. Edwards","raw_affiliation_strings":["Department of Mechanical Engineering, University of Idaho, Moscow, ID, USA","Dept. of Mech. Eng., Idaho Univ., Moscow, ID, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Idaho, Moscow, ID, USA","institution_ids":["https://openalex.org/I155093810"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Idaho Univ., Moscow, ID, USA","institution_ids":["https://openalex.org/I155093810"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049671396","display_name":"Thomas A. Bean","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I155093810","display_name":"University of Idaho","ror":"https://ror.org/03hbp5t65","country_code":"US","type":"education","lineage":["https://openalex.org/I155093810"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"T.A. Bean","raw_affiliation_strings":["Department of Mechanical Engineering, University of Idaho, Moscow, ID, USA","Dept. of Mech. Eng., Idaho Univ., Moscow, ID, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Idaho, Moscow, ID, USA","institution_ids":["https://openalex.org/I155093810"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Idaho Univ., Moscow, ID, USA","institution_ids":["https://openalex.org/I155093810"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076589319","display_name":"D.L. Odell","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"D.L. Odell","raw_affiliation_strings":["CDNSWC Acoustic Research Detachment, Bayview, ID, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CDNSWC Acoustic Research Detachment, Bayview, ID, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5104652429","display_name":"Michael J. Anderson","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I155093810","display_name":"University of Idaho","ror":"https://ror.org/03hbp5t65","country_code":"US","type":"education","lineage":["https://openalex.org/I155093810"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M.J. Anderson","raw_affiliation_strings":["Department of Mechanical Engineering, University of Idaho, Moscow, ID, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Idaho, Moscow, ID, USA","institution_ids":["https://openalex.org/I155093810"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.6944,"has_fulltext":false,"cited_by_count":159,"citation_normalized_percentile":{"value":0.91507361,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":92,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"40","last_page":"46"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.8984000086784363,"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":0.8984000086784363,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.09960000216960907,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.00039999998989515007,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/leader-following-control","display_name":"leader-follower control","score":0.8199999928474426},{"id":"https://openalex.org/keywords/formation-flying","display_name":"formation flying","score":0.6380000114440918},{"id":"https://openalex.org/keywords/autonomous-underwater-vehicles","display_name":"autonomous underwater vehicles","score":0.8460000157356262},{"id":"https://openalex.org/keywords/multi-vehicle-cooperation","display_name":"multi-vehicle cooperation","score":0.859000027179718},{"id":"https://openalex.org/keywords/robustness","display_name":"robustness","score":0.6959999799728394}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7060413956642151},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6969544887542725},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6172114014625549},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5121407508850098},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4486440122127533},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35544514656066895},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33305269479751587},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25902238488197327},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25570666790008545},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/auv.2004.1431191","doi":"https://doi.org/10.1109/auv.2004.1431191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/auv.2004.1431191","pdf_url":null,"source":{"id":"https://openalex.org/S4306422802","display_name":"IEEE/OES Autonomous Underwater Vehicles","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578)","raw_type":"proceedings-article"},{"id":"pmh:ADA461848","doi":null,"is_oa":false,"landing_page_url":"http://oai.dtic.mil/oai/oai?&amp;verb=getRecord&amp;metadataPrefix=html&amp;identifier=ADA461848","pdf_url":null,"source":{"id":"https://openalex.org/S4406923043","display_name":"Defense Technical Information Center (DTIC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"DTIC","raw_type":"Text"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320308861","display_name":"Woods Hole Oceanographic Institution","ror":"https://ror.org/03zbnzt98"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1493261540","https://openalex.org/W1505592476","https://openalex.org/W1547625775","https://openalex.org/W1583703955","https://openalex.org/W2016053181","https://openalex.org/W2126731873","https://openalex.org/W2164341028","https://openalex.org/W2167109203","https://openalex.org/W3147422359"],"related_works":["https://openalex.org/W2562929819","https://openalex.org/W2350558517","https://openalex.org/W3114062009","https://openalex.org/W4404107654","https://openalex.org/W1523439661","https://openalex.org/W7095622981","https://openalex.org/W2057269282","https://openalex.org/W2388817578","https://openalex.org/W2002092793","https://openalex.org/W3195884369"],"abstract_inverted_index":{"In":[0,57],"the":[1,93,96,117,121,131,135],"future,":[2],"it":[3],"may":[4,28],"be":[5,70],"possible":[6],"to":[7,15,40,72],"employ":[8],"large":[9],"numbers":[10,31],"of":[11,26,37,83,95,116,123,134],"autonomous":[12,125],"marine":[13],"vehicles":[14,27],"perform":[16,41],"tedious":[17],"and":[18,75,79,87,112,137],"dangerous":[19],"tasks,":[20],"such":[21],"as":[22],"minesweeping.":[23],"Hypothetically,":[24],"groups":[25],"leverage":[29],"their":[30],"by":[32],"cooperating.":[33],"A":[34],"fundamental":[35],"form":[36],"cooperation":[38],"is":[39],"tasks":[42],"while":[43],"maintaining":[44],"a":[45,62,81],"geometric":[46],"formation.":[47],"The":[48,100,127],"formation":[49,97],"behavior":[50],"can":[51,69],"then":[52],"enable":[53],"other":[54],"cooperative":[55],"behaviors.":[56],"this":[58],"paper,":[59],"we":[60],"describe":[61],"leader-follower":[63],"formation-flying":[64],"control":[65,98],"algorithm.":[66,99],"This":[67],"algorithm":[68],"applied":[71],"one-,":[73],"two-,":[74],"three":[76],"dimensional":[77],"formations,":[78],"contains":[80],"degree":[82],"built-in":[84],"robustness.":[85],"Simulations":[86],"experiments":[88,101],"are":[89],"described":[90],"that":[91,105,119],"characterize":[92],"performance":[94],"utilized":[102],"surface":[103],"craft":[104],"were":[106],"equipped":[107],"with":[108],"an":[109],"acoustic":[110],"navigation":[111],"communication":[113,136],"system,":[114],"representative":[115],"technologies":[118],"constrain":[120],"operation":[122],"underwater":[124],"vehicles.":[126],"simulations":[128],"likewise":[129],"included":[130],"discrete-time":[132],"nature":[133],"navigation.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":16},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":12}],"updated_date":"2026-11-03T10:50:19.383937","created_date":"2016-06-24T00:00:00"}
