{"id":"https://openalex.org/W3118352295","doi":"https://doi.org/10.1109/access.2020.3048330","title":"Project and Control Allocation of a 3 DoF Autonomous Surface Vessel With Aerial Azimuth Propulsion System","display_name":"Project and Control Allocation of a 3 DoF Autonomous Surface Vessel With Aerial Azimuth Propulsion System","publication_year":2020,"publication_date":"2020-12-31","ids":{"openalex":"https://openalex.org/W3118352295","doi":"https://doi.org/10.1109/access.2020.3048330","mag":"3118352295"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3048330","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3048330","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09311737.pdf","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://ieeexplore.ieee.org/ielx7/6287639/9312710/09311737.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076965824","display_name":"M. F. Silva","orcid":"https://orcid.org/0000-0002-6457-1772"},"institutions":[{"id":"https://openalex.org/I101100930","display_name":"Universidade Federal de Juiz de Fora","ror":"https://ror.org/04yqw9c44","country_code":"BR","type":"education","lineage":["https://openalex.org/I101100930"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Mathaus Ferreira da Silva","raw_affiliation_strings":["Federal University of Juiz de Fora, Juiz de Fora, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-6457-1772","affiliations":[{"raw_affiliation_string":"Federal University of Juiz de Fora, Juiz de Fora, Brazil","institution_ids":["https://openalex.org/I101100930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037165857","display_name":"Leonardo de Mello Hon\u00f3rio","orcid":"https://orcid.org/0000-0003-2735-4792"},"institutions":[{"id":"https://openalex.org/I101100930","display_name":"Universidade Federal de Juiz de Fora","ror":"https://ror.org/04yqw9c44","country_code":"BR","type":"education","lineage":["https://openalex.org/I101100930"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Leonardo Mello de Mello Honorio","raw_affiliation_strings":["Federal University of Juiz de Fora, Juiz de Fora, Brazil"],"raw_orcid":"https://orcid.org/0000-0003-2735-4792","affiliations":[{"raw_affiliation_string":"Federal University of Juiz de Fora, Juiz de Fora, Brazil","institution_ids":["https://openalex.org/I101100930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088102067","display_name":"M. F. Santos","orcid":"https://orcid.org/0000-0002-6568-1121"},"institutions":[{"id":"https://openalex.org/I4210136482","display_name":"Federal Center for Technological Education of Minas Gerais","ror":"https://ror.org/04ch49185","country_code":"BR","type":"education","lineage":["https://openalex.org/I4210136482"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Murillo Ferreira dos Santos","raw_affiliation_strings":["CEFET-MG, Leopoldina, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CEFET-MG, Leopoldina, Brazil","institution_ids":["https://openalex.org/I4210136482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077282517","display_name":"Accacio Ferreira Dos Santos Neto","orcid":"https://orcid.org/0000-0003-1942-4412"},"institutions":[{"id":"https://openalex.org/I4210136482","display_name":"Federal Center for Technological Education of Minas Gerais","ror":"https://ror.org/04ch49185","country_code":"BR","type":"education","lineage":["https://openalex.org/I4210136482"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Accacio Ferreira dos Santos Neto","raw_affiliation_strings":["CEFET-MG, Leopoldina, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CEFET-MG, Leopoldina, Brazil","institution_ids":["https://openalex.org/I4210136482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050874422","display_name":"Nuno Cruz","orcid":"https://orcid.org/0000-0001-6365-9492"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nuno Alexandre Cruz","raw_affiliation_strings":["Porto University, Porto, Portugal"],"raw_orcid":"https://orcid.org/0000-0001-6365-9492","affiliations":[{"raw_affiliation_string":"Porto University, Porto, Portugal","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065083920","display_name":"An\u0131\u0301bal Matos","orcid":"https://orcid.org/0000-0002-9771-002X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Anibal C. C. Matos","raw_affiliation_strings":["Porto University, Porto, Portugal"],"raw_orcid":"https://orcid.org/0000-0002-9771-002X","affiliations":[{"raw_affiliation_string":"Porto University, Porto, Portugal","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002407092","display_name":"Luis Gustavo Fortes Westin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Luis Gustavo Fortes Westin","raw_affiliation_strings":["Itapebi Gera\u00e7\u00e3o de Energia S.A., Grupo Neoenergia, Rio de Janeiro, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Itapebi Gera\u00e7\u00e3o de Energia S.A., Grupo Neoenergia, Rio de Janeiro, Brazil","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"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":1.4894,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.8277787,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"9","issue":null,"first_page":"5212","last_page":"5227"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9990000128746033,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9940999746322632,"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/T12158","display_name":"Guidance and Control Systems","score":0.9671000242233276,"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/propulsion","display_name":"Propulsion","score":0.8160919547080994},{"id":"https://openalex.org/keywords/azimuth","display_name":"Azimuth","score":0.7726877927780151},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6334173679351807},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5862779021263123},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48878857493400574},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4463045299053192},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.44230642914772034},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4399524927139282},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4281568229198456},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4258701205253601},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4224357604980469},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.41479212045669556},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3424072563648224},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3410625755786896},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.32005274295806885},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22535037994384766},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.19352900981903076},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14056789875030518},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09199488162994385},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0905943512916565},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08186233043670654}],"concepts":[{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.8160919547080994},{"id":"https://openalex.org/C159737794","wikidata":"https://www.wikidata.org/wiki/Q124274","display_name":"Azimuth","level":2,"score":0.7726877927780151},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6334173679351807},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5862779021263123},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48878857493400574},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4463045299053192},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.44230642914772034},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4399524927139282},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4281568229198456},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4258701205253601},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4224357604980469},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.41479212045669556},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3424072563648224},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3410625755786896},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.32005274295806885},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22535037994384766},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.19352900981903076},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14056789875030518},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09199488162994385},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0905943512916565},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08186233043670654},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3048330","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3048330","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09311737.pdf","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:93d7bd4c648a49308eb34e3590914583","is_oa":true,"landing_page_url":"https://doaj.org/article/93d7bd4c648a49308eb34e3590914583","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 9, Pp 5212-5227 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3048330","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3048330","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09311737.pdf","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":[{"id":"https://metadata.un.org/sdg/14","score":0.5600000023841858,"display_name":"Life below water"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321091","display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","ror":"https://ror.org/00x0ma614"},{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"},{"id":"https://openalex.org/F4320324178","display_name":"Ag\u00eancia Nacional de Energia El\u00e9trica","ror":"https://ror.org/049sgh675"},{"id":"https://openalex.org/F4320324372","display_name":"Universidade Federal de Juiz de Fora","ror":"https://ror.org/04yqw9c44"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3118352295.pdf","grobid_xml":"https://content.openalex.org/works/W3118352295.grobid-xml"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W790429187","https://openalex.org/W1493670647","https://openalex.org/W1590684588","https://openalex.org/W1940215497","https://openalex.org/W1961605282","https://openalex.org/W1969203871","https://openalex.org/W1971914109","https://openalex.org/W1972670848","https://openalex.org/W1974854392","https://openalex.org/W2017297924","https://openalex.org/W2022145436","https://openalex.org/W2032239956","https://openalex.org/W2039007366","https://openalex.org/W2053232241","https://openalex.org/W2054639902","https://openalex.org/W2078271342","https://openalex.org/W2093460083","https://openalex.org/W2096812254","https://openalex.org/W2107164736","https://openalex.org/W2119034018","https://openalex.org/W2133432177","https://openalex.org/W2133495566","https://openalex.org/W2145930766","https://openalex.org/W2169567089","https://openalex.org/W2182654257","https://openalex.org/W2462876168","https://openalex.org/W2492811885","https://openalex.org/W2531022830","https://openalex.org/W2608319842","https://openalex.org/W2804206910","https://openalex.org/W2887208749","https://openalex.org/W2905326419","https://openalex.org/W2949633888","https://openalex.org/W2963550797","https://openalex.org/W2970630354","https://openalex.org/W2986047745","https://openalex.org/W3026829485","https://openalex.org/W3033404896","https://openalex.org/W3098204250","https://openalex.org/W6685992709","https://openalex.org/W6752129205"],"related_works":["https://openalex.org/W3006474185","https://openalex.org/W2483195039","https://openalex.org/W2611761074","https://openalex.org/W2048211457","https://openalex.org/W2281797687","https://openalex.org/W2358411735","https://openalex.org/W2107024632","https://openalex.org/W2358598243","https://openalex.org/W2331534598","https://openalex.org/W2031856552"],"abstract_inverted_index":{"To":[0,38,89],"gather":[1],"hydrological":[2],"measurements":[3],"is":[4,13],"a":[5,46,57,107],"difficult":[6],"task":[7],"for":[8,15,140],"Autonomous":[9,51],"Surface":[10,52],"Vessels.":[11],"It":[12],"necessary":[14],"precise":[16],"navigation":[17],"considering":[18],"underwater":[19],"obstacles,":[20],"shallow":[21],"and":[22,26,81,135,148,155],"fast":[23,134],"water":[24],"flows,":[25],"also":[27,105],"mitigate":[28],"misreadings":[29],"due":[30],"to":[31],"disturbs":[32],"caused":[33],"by":[34],"their":[35],"propulsion":[36,63],"system.":[37],"deal":[39,90],"with":[40,60,65,91,129],"those":[41],"problems,":[42],"this":[43,103],"paper":[44,104],"presents":[45],"new":[47],"topology":[48],"of":[49,75,83,96],"an":[50,61,71],"Vessel":[53],"(ASV)":[54],"based":[55],"on":[56],"catamaran":[58],"boat":[59],"aerial":[62],"system":[64,118],"azimuth":[66],"control.":[67],"This":[68,123],"set":[69],"generates":[70,125],"over-actuated":[72,98],"3":[73],"Degree":[74],"Freedom":[76],"(DoF)":[77],"ASV,":[78],"highly":[79],"maneuverable":[80],"able":[82],"operating":[84],"over":[85],"the":[86,92,97,115],"above-mentioned":[87],"situations.":[88],"high":[93],"computational":[94],"cost":[95],"control":[99,142],"allocation":[100],"(CA)":[101],"problem,":[102],"proposes":[106],"Fast":[108],"CA":[109],"(FCA)":[110],"approach.":[111],"The":[112],"FCA":[113],"breaks":[114],"initial":[116],"nonlinear":[117],"into":[119],"partially-dependent":[120],"linear":[121],"subsystems.":[122],"approach":[124],"smaller":[126],"connected":[127],"systems":[128],"overlapping":[130],"solution":[131],"spaces,":[132],"generating":[133],"robust":[136],"convergence,":[137],"especially":[138],"attractive":[139],"embedded":[141],"devices.":[143],"Both":[144],"proposals,":[145],"i.e.,":[146],"ASV":[147],"FCA,":[149],"are":[150],"assessed":[151],"through":[152],"mathematical":[153],"simulations":[154],"real":[156],"scenarios.":[157]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2021,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}