{"id":"https://openalex.org/W2579831330","doi":"https://doi.org/10.1109/access.2017.2651048","title":"Convergence Analysis on Multi-AUV Systems With Leader-Follower Architecture","display_name":"Convergence Analysis on Multi-AUV Systems With Leader-Follower Architecture","publication_year":2017,"publication_date":"2017-01-01","ids":{"openalex":"https://openalex.org/W2579831330","doi":"https://doi.org/10.1109/access.2017.2651048","mag":"2579831330"},"language":"en","primary_location":{"id":"doi:10.1109/access.2017.2651048","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2017.2651048","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2017.2651048","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027631351","display_name":"Wen Xing","orcid":"https://orcid.org/0000-0002-1561-1459"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen Xing","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082779628","display_name":"Yuxin Zhao","orcid":"https://orcid.org/0000-0003-1921-4714"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxin Zhao","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-1921-4714","affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090855504","display_name":"Hamid Reza Karimi","orcid":"https://orcid.org/0000-0001-7629-3266"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Hamid Reza Karimi","raw_affiliation_strings":["Department of Mechanical Engineering, Politecnico di Milano, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":9.0074,"has_fulltext":false,"cited_by_count":64,"citation_normalized_percentile":{"value":0.98050917,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"5","issue":null,"first_page":"853","last_page":"868"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9995999932289124,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/rate-of-convergence","display_name":"Rate of convergence","score":0.6847450733184814},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.6603050231933594},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6499506235122681},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5474260449409485},{"id":"https://openalex.org/keywords/digraph","display_name":"Digraph","score":0.4431186318397522},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.43975088000297546},{"id":"https://openalex.org/keywords/directed-graph","display_name":"Directed graph","score":0.4106805920600891},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3516615033149719},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.33750712871551514},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.337287962436676},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.23710623383522034},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23561227321624756},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.23498696088790894},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.197162926197052},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10598486661911011}],"concepts":[{"id":"https://openalex.org/C57869625","wikidata":"https://www.wikidata.org/wiki/Q1783502","display_name":"Rate of convergence","level":3,"score":0.6847450733184814},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.6603050231933594},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6499506235122681},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5474260449409485},{"id":"https://openalex.org/C2779145032","wikidata":"https://www.wikidata.org/wiki/Q191494","display_name":"Digraph","level":2,"score":0.4431186318397522},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.43975088000297546},{"id":"https://openalex.org/C146380142","wikidata":"https://www.wikidata.org/wiki/Q1137726","display_name":"Directed graph","level":2,"score":0.4106805920600891},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3516615033149719},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.33750712871551514},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.337287962436676},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.23710623383522034},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23561227321624756},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.23498696088790894},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.197162926197052},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10598486661911011},{"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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2017.2651048","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2017.2651048","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:20132d19e4be4383bda2de4b42ec2b71","is_oa":true,"landing_page_url":"https://doaj.org/article/20132d19e4be4383bda2de4b42ec2b71","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 5, Pp 853-868 (2017)","raw_type":"article"},{"id":"pmh:oai:re.public.polimi.it:11311/1036441","is_oa":true,"landing_page_url":"http://hdl.handle.net/11311/1036441","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/access.2017.2651048","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2017.2651048","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.4399999976158142,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G243971771","display_name":null,"funder_award_id":"1121070 STP","funder_id":"https://openalex.org/F4320308269","funder_display_name":"Alexander von Humboldt-Stiftung"},{"id":"https://openalex.org/G4845532791","display_name":null,"funder_award_id":"51379049","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8707303039","display_name":null,"funder_award_id":"41676088","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320308269","display_name":"Alexander von Humboldt-Stiftung","ror":"https://ror.org/012kf4317"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W151604921","https://openalex.org/W1541418243","https://openalex.org/W1966790627","https://openalex.org/W1972079066","https://openalex.org/W1981934471","https://openalex.org/W1985286768","https://openalex.org/W1987378497","https://openalex.org/W1992133356","https://openalex.org/W1993672306","https://openalex.org/W1999399806","https://openalex.org/W2003456468","https://openalex.org/W2012562254","https://openalex.org/W2017892282","https://openalex.org/W2017974631","https://openalex.org/W2022705484","https://openalex.org/W2028706574","https://openalex.org/W2030877649","https://openalex.org/W2056200186","https://openalex.org/W2059529072","https://openalex.org/W2062278915","https://openalex.org/W2065999028","https://openalex.org/W2067004690","https://openalex.org/W2072764086","https://openalex.org/W2074032690","https://openalex.org/W2074796812","https://openalex.org/W2090624413","https://openalex.org/W2099700272","https://openalex.org/W2100935517","https://openalex.org/W2107396783","https://openalex.org/W2108728313","https://openalex.org/W2115342821","https://openalex.org/W2124620758","https://openalex.org/W2129011652","https://openalex.org/W2140655807","https://openalex.org/W2159499856","https://openalex.org/W2160643434","https://openalex.org/W2168736040","https://openalex.org/W2172813797","https://openalex.org/W2189634209","https://openalex.org/W2200106645","https://openalex.org/W2227675293","https://openalex.org/W2244607048","https://openalex.org/W2249859651","https://openalex.org/W2255331989","https://openalex.org/W2310756702","https://openalex.org/W2327986864","https://openalex.org/W2422181669","https://openalex.org/W2518668069","https://openalex.org/W2519039782","https://openalex.org/W4238591275","https://openalex.org/W6654841791","https://openalex.org/W6667120849","https://openalex.org/W6668725918","https://openalex.org/W6668819624","https://openalex.org/W6726965529"],"related_works":["https://openalex.org/W4255598955","https://openalex.org/W4300501056","https://openalex.org/W2765600275","https://openalex.org/W2953710272","https://openalex.org/W3088611359","https://openalex.org/W3006501763","https://openalex.org/W2372392972","https://openalex.org/W1643271191","https://openalex.org/W2393121883","https://openalex.org/W2383323352"],"abstract_inverted_index":{"In":[0,149,199],"multi-autonomous":[1],"underwater":[2],"vehicle":[3],"(multi-AUV)":[4],"systems,":[5],"the":[6,12,17,55,66,73,77,85,91,97,103,109,115,119,123,144,153,157,190,197,201,204],"convergence":[7,52,79,98,110],"rate":[8,53,80,99,111],"is":[9,29,59,81,138,166,179],"characterized":[10],"by":[11],"pace":[13],"of":[14,16,34,49,54,76,93,105,117,133,146,159,192,203],"consistency":[15],"key":[18],"state":[19],"information":[20],"for":[21],"each":[22],"member.":[23],"The":[24,131],"topology":[25],"with":[26,65],"leader-follower":[27],"architecture":[28],"designed":[30],"as":[31],"a":[32,41,162,170],"combination":[33,132],"an":[35,140],"undirected":[36],"graph":[37],"between":[38,43],"followers":[39],"and":[40,45,89,127,135,168],"digraph":[42],"leaders":[44],"followers.":[46],"An":[47],"overview":[48],"influences":[50,104,202],"on":[51,84,96,108,125,174,206],"second-order":[56],"consensus":[57,134],"algorithm":[58,137,178],"elaborated":[60],"in":[61,69,156,196],"three":[62],"aspects,":[63],"along":[64],"main":[67],"contributions":[68],"this":[70],"paper.":[71],"Specifically,":[72],"explicit":[74],"expression":[75],"maximum":[78],"established":[82],"based":[83,173],"root":[86],"locus":[87],"method,":[88],"then,":[90,169],"effects":[92],"control":[94],"parameters":[95],"are":[100,112,183,209],"analyzed.":[101],"Moreover,":[102],"network":[106],"topologies":[107,205],"investigated":[113],"from":[114],"view":[116],"adjusting":[118],"existing":[120],"connectivity,":[121],"changing":[122],"weights":[124],"links,":[126],"utilizing":[128],"hierarchical":[129],"structure.":[130],"filtering":[136],"also":[139],"approach":[141,172],"to":[142,151,185],"enhance":[143],"capacity":[145],"multi-AUV":[147],"systems.":[148,198],"order":[150],"eliminate":[152],"accumulated":[154],"errors":[155],"process":[158],"dead":[160],"reckoning,":[161],"collaborative":[163],"navigation":[164],"model":[165],"presented,":[167],"localization":[171],"consensus-unscented":[175],"particle":[176],"filter":[177],"proposed.":[180],"Simulations":[181],"results":[182],"provided":[184],"verify":[186],"location":[187],"performance":[188],"under":[189],"assumption":[191],"Gaussian":[193],"white":[194],"noise":[195],"addition,":[200],"positioning":[207],"accuracy":[208],"explored.":[210]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":15},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
