{"id":"https://openalex.org/W2121054762","doi":"https://doi.org/10.1109/acc.2005.1470035","title":"Optimal trajectory generation in ocean flows","display_name":"Optimal trajectory generation in ocean flows","publication_year":2005,"publication_date":"2005-08-10","ids":{"openalex":"https://openalex.org/W2121054762","doi":"https://doi.org/10.1109/acc.2005.1470035","mag":"2121054762"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2005.1470035","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2005.1470035","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005, American Control Conference, 2005.","raw_type":"proceedings-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/A5052586815","display_name":"Tamer Inanc","orcid":"https://orcid.org/0000-0002-5314-3908"},"institutions":[{"id":"https://openalex.org/I142740786","display_name":"University of Louisville","ror":"https://ror.org/01ckdn478","country_code":"US","type":"education","lineage":["https://openalex.org/I142740786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"T. Inanc","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Louisville, Louisville, KY, USA","[Dept. of Electr. & Comput. Eng., Louisville Univ., KY, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Louisville, Louisville, KY, USA","institution_ids":["https://openalex.org/I142740786"]},{"raw_affiliation_string":"[Dept. of Electr. & Comput. Eng., Louisville Univ., KY, USA]","institution_ids":["https://openalex.org/I142740786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045646606","display_name":"Shawn C. Shadden","orcid":"https://orcid.org/0000-0001-7561-1568"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S.C. Shadden","raw_affiliation_strings":["Department of Control and Dynamical Systems, California Institute of Technology, Pasadena, CA, USA","[department of Control and Dynamical Systems, California Institute of Technology, Pasadena, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Dynamical Systems, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"[department of Control and Dynamical Systems, California Institute of Technology, Pasadena, CA, USA]","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110208781","display_name":"Jerrold E. Marsden","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.E. Marsden","raw_affiliation_strings":["Department of Control and Dynamical Systems, California Institute of Technology, Pasadena, CA, USA","[department of Control and Dynamical Systems, California Institute of Technology, Pasadena, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Dynamical Systems, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"[department of Control and Dynamical Systems, California Institute of Technology, Pasadena, CA, USA]","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.0126,"has_fulltext":false,"cited_by_count":105,"citation_normalized_percentile":{"value":0.91484732,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"674","last_page":"679"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11261","display_name":"Quantum chaos and dynamical systems","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11261","display_name":"Quantum chaos and dynamical systems","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9955000281333923,"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/T11694","display_name":"Fluid Dynamics Simulations and Interactions","score":0.9843999743461609,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/trajectory","display_name":"Trajectory","score":0.7341318130493164},{"id":"https://openalex.org/keywords/underwater-glider","display_name":"Underwater glider","score":0.7290130853652954},{"id":"https://openalex.org/keywords/lyapunov-exponent","display_name":"Lyapunov exponent","score":0.6982163190841675},{"id":"https://openalex.org/keywords/glider","display_name":"Glider","score":0.6504568457603455},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5739235281944275},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5346905589103699},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5106084942817688},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48592010140419006},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43304067850112915},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4277242124080658},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29542702436447144},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.27408701181411743},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1733657717704773},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1358412504196167},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12049633264541626},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11777043342590332},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10859039425849915},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09138667583465576}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7341318130493164},{"id":"https://openalex.org/C34824556","wikidata":"https://www.wikidata.org/wiki/Q2634473","display_name":"Underwater glider","level":3,"score":0.7290130853652954},{"id":"https://openalex.org/C191544260","wikidata":"https://www.wikidata.org/wiki/Q1238630","display_name":"Lyapunov exponent","level":3,"score":0.6982163190841675},{"id":"https://openalex.org/C73525677","wikidata":"https://www.wikidata.org/wiki/Q2396202","display_name":"Glider","level":2,"score":0.6504568457603455},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5739235281944275},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5346905589103699},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5106084942817688},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48592010140419006},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43304067850112915},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4277242124080658},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29542702436447144},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.27408701181411743},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1733657717704773},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1358412504196167},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12049633264541626},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11777043342590332},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10859039425849915},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09138667583465576},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/acc.2005.1470035","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2005.1470035","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005, American Control Conference, 2005.","raw_type":"proceedings-article"},{"id":"pmh:oai:authors.library.caltech.edu:20326","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/20326/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.131.6969","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.131.6969","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cds.caltech.edu/~marsden/bib/2005/12-InShMa2005/InShMa2005.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.8700000047683716,"id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G177218894","display_name":null,"funder_award_id":"F49620","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"},{"id":"https://openalex.org/G8876996369","display_name":null,"funder_award_id":"N00014","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W87173310","https://openalex.org/W1824256651","https://openalex.org/W1966126529","https://openalex.org/W1973573057","https://openalex.org/W1975452069","https://openalex.org/W1981929146","https://openalex.org/W1985249384","https://openalex.org/W2001272551","https://openalex.org/W2022640474","https://openalex.org/W2033237147","https://openalex.org/W2059615808","https://openalex.org/W2084755618","https://openalex.org/W2108674204","https://openalex.org/W2116373360","https://openalex.org/W2125086123","https://openalex.org/W2125974405","https://openalex.org/W2134668569","https://openalex.org/W2138249602","https://openalex.org/W2162870748","https://openalex.org/W2494578911","https://openalex.org/W2961703895","https://openalex.org/W6638398414"],"related_works":["https://openalex.org/W4200404818","https://openalex.org/W2064447020","https://openalex.org/W2528493866","https://openalex.org/W4366818296","https://openalex.org/W1925436682","https://openalex.org/W4313197375","https://openalex.org/W2098154439","https://openalex.org/W1999912093","https://openalex.org/W3035533241","https://openalex.org/W4280636355"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"it":[3],"is":[4,82],"shown":[5],"that":[6],"Lagrangian":[7],"Coherent":[8],"Structures":[9],"(LCS)":[10],"are":[11],"useful":[12],"in":[13,22,108],"determining":[14],"near":[15],"optimal":[16,32,68],"trajectories":[17],"for":[18,31,54,100],"autonomous":[19,36],"underwater":[20,37],"gliders":[21],"a":[23,55],"dynamic":[24],"ocean":[25],"environment.":[26],"This":[27],"opens":[28],"the":[29,41,67,91],"opportunity":[30],"path":[33],"planning":[34],"of":[35,59],"vehicles":[38],"by":[39,111],"studying":[40],"global":[42],"flow":[43],"geometry":[44],"via":[45],"dynamical":[46],"systems":[47],"methods.":[48],"Optimal":[49],"glider":[50,62],"paths":[51],"were":[52,71],"computed":[53],"2-dimensionaI":[56],"kinematic":[57],"model":[58],"an":[60],"end-point":[61],"problem.":[63],"Numerical":[64],"solutions":[65],"to":[66,84],"control":[69],"problem":[70],"obtained":[72,89,104],"using":[73,90],"Nonlinear":[74],"Trajectory":[75],"Generation":[76],"(NTG)":[77],"software.":[78],"The":[79,96],"resulting":[80],"solution":[81],"compared":[83],"corresponding":[85],"results":[86],"on":[87],"LCS":[88],"Direct":[92],"Lyapunov":[93],"Exponent":[94],"method.":[95],"velocity":[97],"data":[98],"used":[99],"these":[101],"computations":[102],"was":[103],"from":[105],"measurements":[106],"taken":[107],"August,":[109],"2000,":[110],"HF-Radar":[112],"stations":[113],"located":[114],"around":[115],"Monterey":[116],"Bay,":[117],"CA,":[118],"USA.":[119]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":12},{"year":2013,"cited_by_count":12},{"year":2012,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}