{"id":"https://openalex.org/W4212907632","doi":"https://doi.org/10.1080/00207721.2022.2032465","title":"Simple agents, smart swarms: a cooperative search algorithm for swarms of autonomous underwater vehicles","display_name":"Simple agents, smart swarms: a cooperative search algorithm for swarms of autonomous underwater vehicles","publication_year":2022,"publication_date":"2022-02-14","ids":{"openalex":"https://openalex.org/W4212907632","doi":"https://doi.org/10.1080/00207721.2022.2032465"},"language":"en","primary_location":{"id":"doi:10.1080/00207721.2022.2032465","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207721.2022.2032465","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Systems Science","raw_type":"journal-article"},"type":"article","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/A5036875805","display_name":"Minglei Xiong","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Minglei Xiong","raw_affiliation_strings":["Boya Gongdao (Beijing) Robot Technology Co., Ltd., Beijing, China","State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, People's Republic of China","Boya Gongdao (Beijing) Robot Technology Co., Ltd., Beijing, China; State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boya Gongdao (Beijing) Robot Technology Co., Ltd., Beijing, China","institution_ids":[]},{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, People's Republic of China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]},{"raw_affiliation_string":"Boya Gongdao (Beijing) Robot Technology Co., Ltd., Beijing, China; State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, People's Republic of China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044920558","display_name":"Guangming Xie","orcid":"https://orcid.org/0000-0001-6504-0087"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangming Xie","raw_affiliation_strings":["Institute of Ocean Research, Peking University, Beijing, China","Peng Cheng Laboratory, Shenzhen, China","State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, People's Republic of China","Institute of Ocean Research, Peking University, Beijing, China; Peng Cheng Laboratory, Shenzhen, China; State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Ocean Research, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Peng Cheng Laboratory, Shenzhen, China","institution_ids":["https://openalex.org/I4210136793"]},{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, People's Republic of China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]},{"raw_affiliation_string":"Institute of Ocean Research, Peking University, Beijing, China; Peng Cheng Laboratory, Shenzhen, China; State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, People's Republic of China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4210136793"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5036875805"],"corresponding_institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"],"apc_list":null,"apc_paid":null,"fwci":0.8471,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.65974079,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":"53","issue":"9","first_page":"1995","last_page":"2009"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9979000091552734,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9894000291824341,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/swarm-behaviour","display_name":"Swarm behaviour","score":0.8631367683410645},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.7908186912536621},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7218732237815857},{"id":"https://openalex.org/keywords/swarm-intelligence","display_name":"Swarm intelligence","score":0.6023053526878357},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5933632850646973},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.583079993724823},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.5689889192581177},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5225358009338379},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.49616560339927673},{"id":"https://openalex.org/keywords/search-problem","display_name":"Search problem","score":0.47369977831840515},{"id":"https://openalex.org/keywords/search-algorithm","display_name":"Search algorithm","score":0.465526282787323},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44383394718170166},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.42269405722618103},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4207495152950287},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37417036294937134},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33189624547958374},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.28227636218070984},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24693694710731506},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.1381799876689911},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10469800233840942}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.8631367683410645},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.7908186912536621},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7218732237815857},{"id":"https://openalex.org/C119487961","wikidata":"https://www.wikidata.org/wiki/Q863960","display_name":"Swarm intelligence","level":3,"score":0.6023053526878357},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5933632850646973},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.583079993724823},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.5689889192581177},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5225358009338379},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.49616560339927673},{"id":"https://openalex.org/C201789804","wikidata":"https://www.wikidata.org/wiki/Q2362762","display_name":"Search problem","level":2,"score":0.47369977831840515},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.465526282787323},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44383394718170166},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.42269405722618103},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4207495152950287},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37417036294937134},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33189624547958374},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.28227636218070984},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24693694710731506},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.1381799876689911},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10469800233840942},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/00207721.2022.2032465","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207721.2022.2032465","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Systems Science","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:taf:tsysxx:v:53:y:2022:i:9:p:1995-2009","is_oa":false,"landing_page_url":"http://hdl.handle.net/10.1080/00207721.2022.2032465","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.5899999737739563}],"awards":[{"id":"https://openalex.org/G2616550356","display_name":"\u8fd1\u6d45\u6d77\u6c34\u4e0b\u6355\u635e\u673a\u5668\u4eba\u7684\u57fa\u7840\u7406\u8bba\u4e0e\u5173\u952e\u6280\u672f\u7814\u7a76","funder_award_id":"61633002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5913841555","display_name":null,"funder_award_id":"4192026","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G6824663452","display_name":"\u53d7\u751f\u7269\u542f\u53d1\u7684\u591a\u6c34\u4e0b\u673a\u5668\u4eba\u73af\u5883\u81ea\u9002\u5e94\u96c6\u7fa4\u534f\u4f5c\u63a7\u5236\u65b9\u6cd5\u53ca\u5b9e\u9a8c\u7814\u7a76","funder_award_id":"61973007","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W13135463","https://openalex.org/W1933842034","https://openalex.org/W1969142081","https://openalex.org/W1973573057","https://openalex.org/W1983950286","https://openalex.org/W1992193646","https://openalex.org/W2004331366","https://openalex.org/W2015415689","https://openalex.org/W2028748798","https://openalex.org/W2040872697","https://openalex.org/W2060183836","https://openalex.org/W2074823003","https://openalex.org/W2101040790","https://openalex.org/W2103213286","https://openalex.org/W2111972027","https://openalex.org/W2114126053","https://openalex.org/W2120600560","https://openalex.org/W2136812729","https://openalex.org/W2137843737","https://openalex.org/W2159384867","https://openalex.org/W2163194931","https://openalex.org/W2191312089","https://openalex.org/W2341147552","https://openalex.org/W2345111710","https://openalex.org/W2479429355","https://openalex.org/W2763993715","https://openalex.org/W2808115698","https://openalex.org/W2912593934","https://openalex.org/W2914610074","https://openalex.org/W2969141318","https://openalex.org/W2972961588","https://openalex.org/W3003498136","https://openalex.org/W3040469843","https://openalex.org/W3088923333","https://openalex.org/W3101667383","https://openalex.org/W3115668312"],"related_works":["https://openalex.org/W4308703632","https://openalex.org/W1874218954","https://openalex.org/W65954170","https://openalex.org/W4233987368","https://openalex.org/W2348071873","https://openalex.org/W2983970111","https://openalex.org/W1988876749","https://openalex.org/W2915248236","https://openalex.org/W3211671541","https://openalex.org/W1912031294"],"abstract_inverted_index":{"Searching":[0],"within":[1,142],"an":[2,22,56],"unknown":[3,63,120],"environment":[4,33],"quickly":[5],"by":[6,160],"utilising":[7],"a":[8,15,26,70,78,82,102,124,127],"small":[9],"number":[10,17,163],"of":[11,18,164,180,196],"high-capacity":[12],"robots":[13,20,165],"or":[14],"large":[16,83],"low-cost":[19],"poses":[21],"endless":[23],"question":[24],"with":[25,177],"non-trivial":[27],"answer.":[28],"If":[29],"the":[30,36,48,112,135,152,162,167,170,178,181,193],"robot's":[31],"operating":[32],"is":[34],"underwater,":[35],"problem":[37],"becomes":[38],"even":[39],"more":[40],"complicated":[41],"due":[42],"to":[43,81,100,105,134],"its":[44],"three-dimensional":[45],"nature":[46],"and":[47,108,111,138,154],"communication":[49,144],"restrictions.":[50],"In":[51,85],"this":[52,86],"paper,":[53],"we":[54],"propose":[55],"algorithm":[57],"appropriate":[58],"for":[59],"target":[60],"searching":[61],"in":[62,119],"underwater":[64],"environments.":[65,121],"The":[66],"proposed":[67],"method":[68],"considers":[69],"homogeneous":[71],"decentralised":[72],"multi-robot":[73],"coordination":[74],"scheme":[75],"applied":[76],"from":[77],"single-robot":[79],"configuration":[80],"swarm.":[84],"model,":[87],"simple":[88,136],"agents":[89,130],"(SA)":[90],"form":[91],"smart":[92],"swarms":[93],"(SS),":[94],"despite":[95],"SA":[96],"do":[97],"not":[98,175],"need":[99],"have":[101],"strong":[103],"ability":[104],"transmit":[106],"search":[107,117,128,132,147,156,172],"location":[109],"information,":[110],"SS":[113,188],"can":[114],"efficiently":[115],"perform":[116],"tasks":[118],"Specifically,":[122],"when":[123],"swarm":[125,182,197],"performs":[126],"task,":[129],"only":[131],"according":[133],"strategy":[137],"share":[139],"mapping":[140],"information":[141],"their":[143],"range,":[145],"enhancing":[146],"efficiency.":[148],"Simulation":[149],"results":[150],"demonstrate":[151],"effectiveness":[153],"that":[155,186],"time":[157],"reduces":[158],"proportionally":[159],"increasing":[161],"comprising":[166],"swarm,":[168],"while":[169],"repetition":[171],"rate":[173],"does":[174],"increase":[176],"expansion":[179],"size.":[183],"We":[184],"believe":[185],"our":[187],"architecture":[189],"provides":[190],"insights":[191],"into":[192],"future":[194],"application":[195],"intelligence.":[198]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
