{"id":"https://openalex.org/W2906855112","doi":"https://doi.org/10.1109/lars/sbr/wre.2018.00012","title":"Depth Control of Underwater Robots Using Sliding Modes and Gaussian Process Regression","display_name":"Depth Control of Underwater Robots Using Sliding Modes and Gaussian Process Regression","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2906855112","doi":"https://doi.org/10.1109/lars/sbr/wre.2018.00012","mag":"2906855112"},"language":"en","primary_location":{"id":"doi:10.1109/lars/sbr/wre.2018.00012","doi":"https://doi.org/10.1109/lars/sbr/wre.2018.00012","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre.2018.00012","pdf_url":null,"source":{"id":"https://openalex.org/S7407087105","display_name":"Latin American Robotics Symposium, Brazilian Symposium on Robotics and Workshop on Robotics in Education (LARS/SBR/WRE)","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":"2018 Latin American Robotic Symposium, 2018 Brazilian Symposium on Robotics (SBR) and 2018 Workshop on Robotics in Education (WRE)","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/A5070150726","display_name":"Gabriel da Silva Lima","orcid":"https://orcid.org/0000-0001-6615-078X","observed_orcids":["https://orcid.org/0000-0001-6615-078X"]},"institutions":[{"id":"https://openalex.org/I35046152","display_name":"Universidade Federal do Rio Grande do Norte","ror":"https://ror.org/04wn09761","country_code":"BR","type":"education","lineage":["https://openalex.org/I35046152"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Gabriel S. Lima","raw_affiliation_strings":["RoboTeAM -Robotics & Machine Learning, Campus Universit\u00e1rio Lagoa Nova, Natal, RN, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RoboTeAM -Robotics & Machine Learning, Campus Universit\u00e1rio Lagoa Nova, Natal, RN, Brazil","institution_ids":["https://openalex.org/I35046152"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078549673","display_name":"Wallace Moreira Bessa","orcid":"https://orcid.org/0000-0002-0935-7730","observed_orcids":["https://orcid.org/0000-0002-0935-7730"]},"institutions":[{"id":"https://openalex.org/I35046152","display_name":"Universidade Federal do Rio Grande do Norte","ror":"https://ror.org/04wn09761","country_code":"BR","type":"education","lineage":["https://openalex.org/I35046152"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Wallace M. Bessa","raw_affiliation_strings":["RoboTeAM -Robotics & Machine Learning, Campus Universit\u00e1rio Lagoa Nova, Natal, RN, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RoboTeAM -Robotics & Machine Learning, Campus Universit\u00e1rio Lagoa Nova, Natal, RN, Brazil","institution_ids":["https://openalex.org/I35046152"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023990842","display_name":"Sebastian Trimpe","orcid":"https://orcid.org/0000-0002-2785-2487","observed_orcids":["https://orcid.org/0000-0002-2785-2487"]},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sebastian Trimpe","raw_affiliation_strings":["Intelligent Control Systems Group at the Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Control Systems Group at the Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.9119,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.91946054,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"14","issue":null,"first_page":"8","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994999766349792,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.00019999999494757503,"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/underwater-robots","display_name":"underwater robots","score":0.8080000281333923},{"id":"https://openalex.org/keywords/remotely-operated-vehicle","display_name":"remotely operated vehicle","score":0.9470000267028809},{"id":"https://openalex.org/keywords/depth-control","display_name":"depth control","score":0.9440000057220459},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"sliding mode control","score":0.9919999837875366},{"id":"https://openalex.org/keywords/gaussian-process-regression","display_name":"Gaussian process regression","score":0.996999979019165},{"id":"https://openalex.org/keywords/robust-control","display_name":"robust control","score":0.8199999928474426},{"id":"https://openalex.org/keywords/tracking-performance","display_name":"tracking performance","score":0.5860000252723694},{"id":"https://openalex.org/keywords/closed-loop-convergence","display_name":"closed-loop convergence","score":0.703000009059906}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7783517837524414},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7242062091827393},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6992347240447998},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5391600131988525},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5344926714897156},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5342530012130737},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.47985905408859253},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.47638076543807983},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4732906222343445},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.47230127453804016},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.46492600440979004},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4638379216194153},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45100533962249756},{"id":"https://openalex.org/C155386361","wikidata":"https://www.wikidata.org/wiki/Q1649571","display_name":"Process control","level":3,"score":0.42387324571609497},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3905085325241089},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3493497371673584},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3154834508895874},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2334120273590088},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22992351651191711},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.10562506318092346},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1034715473651886},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.08246386051177979},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06725960969924927},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lars/sbr/wre.2018.00012","doi":"https://doi.org/10.1109/lars/sbr/wre.2018.00012","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre.2018.00012","pdf_url":null,"source":{"id":"https://openalex.org/S7407087105","display_name":"Latin American Robotics Symposium, Brazilian Symposium on Robotics and Workshop on Robotics in Education (LARS/SBR/WRE)","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":"2018 Latin American Robotic Symposium, 2018 Brazilian Symposium on Robotics (SBR) and 2018 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.mpg.de:item_3049972","doi":null,"is_oa":false,"landing_page_url":"http://hdl.handle.net/21.11116/0000-0003-74D0-F","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2018 Latin American Robotic Symposium (LARS 2018), 2018 Brazilian Symposium on Robotics (SBR 2018) and 2018 Workshop on Robotics in Education (WRE 2018)","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1590684588","https://openalex.org/W1974960746","https://openalex.org/W1994067443","https://openalex.org/W2035240037","https://openalex.org/W2041055119","https://openalex.org/W2049661704","https://openalex.org/W2105095180","https://openalex.org/W2127866231","https://openalex.org/W2147081347","https://openalex.org/W2164576815","https://openalex.org/W2346505884","https://openalex.org/W2522349094","https://openalex.org/W2624509002","https://openalex.org/W2758399700","https://openalex.org/W2785485239","https://openalex.org/W2809088163","https://openalex.org/W2963074410","https://openalex.org/W4243217210"],"related_works":["https://openalex.org/W3000279463","https://openalex.org/W4415152743","https://openalex.org/W1988184976","https://openalex.org/W7116837012","https://openalex.org/W2152102996","https://openalex.org/W3211409110","https://openalex.org/W1566202684","https://openalex.org/W2956048005","https://openalex.org/W3081405426","https://openalex.org/W2049661704"],"abstract_inverted_index":{"The":[0,51],"development":[1],"of":[2,54,68],"accurate":[3],"control":[4,24,44,71],"systems":[5],"for":[6,15,28],"underwater":[7,31],"robotic":[8],"vehicles":[9],"relies":[10],"on":[11],"the":[12,55,64,69],"adequate":[13],"compensation":[14],"hydrodynamic":[16],"effects.":[17],"In":[18,33],"this":[19],"work,":[20],"a":[21],"new":[22],"robust":[23],"scheme":[25],"is":[26,45],"presented":[27],"remotely":[29],"operated":[30],"vehicles.":[32],"order":[34],"to":[35],"meet":[36],"both":[37],"robustness":[38],"and":[39],"tracking":[40],"requirements,":[41],"sliding":[42],"mode":[43],"combined":[46],"with":[47],"Gaussian":[48],"process":[49],"regression.":[50],"convergence":[52],"properties":[53],"closed-loop":[56],"signals":[57],"are":[58],"analytically":[59],"proven.":[60],"Numerical":[61],"results":[62],"confirm":[63],"stronger":[65],"improved":[66],"performance":[67],"proposed":[70],"scheme.":[72]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2}],"updated_date":"2026-10-26T11:51:55.731654","created_date":"2019-01-11T00:00:00"}