{"id":"https://openalex.org/W3134170491","doi":"https://doi.org/10.1109/access.2021.3063669","title":"TWINBOT: Autonomous Underwater Cooperative Transportation","display_name":"TWINBOT: Autonomous Underwater Cooperative Transportation","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3134170491","doi":"https://doi.org/10.1109/access.2021.3063669","mag":"3134170491"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3063669","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3063669","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09367135.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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/ielx7/6287639/9312710/09367135.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083422841","display_name":"Roger Pi","orcid":"https://orcid.org/0000-0002-7205-5049"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Roger Pi","raw_affiliation_strings":["Computer Vision and Robotics Research Institute (VICOROB), Universitat de Girona, Girona, Spain"],"raw_orcid":"https://orcid.org/0000-0002-7205-5049","affiliations":[{"raw_affiliation_string":"Computer Vision and Robotics Research Institute (VICOROB), Universitat de Girona, Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048994950","display_name":"Patryk Cie\u015bl\u0105k","orcid":"https://orcid.org/0000-0002-8599-1012"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Patryk Cieslak","raw_affiliation_strings":["Computer Vision and Robotics Research Institute (VICOROB), Universitat de Girona, Girona, Spain"],"raw_orcid":"https://orcid.org/0000-0002-8599-1012","affiliations":[{"raw_affiliation_string":"Computer Vision and Robotics Research Institute (VICOROB), Universitat de Girona, Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057442523","display_name":"Pere Ridao","orcid":"https://orcid.org/0000-0002-1724-3012"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Pere Ridao","raw_affiliation_strings":["Computer Vision and Robotics Research Institute (VICOROB), Universitat de Girona, Girona, Spain"],"raw_orcid":"https://orcid.org/0000-0002-1724-3012","affiliations":[{"raw_affiliation_string":"Computer Vision and Robotics Research Institute (VICOROB), Universitat de Girona, Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010580459","display_name":"Pedro J. Sanz","orcid":"https://orcid.org/0000-0003-3382-1553"},"institutions":[{"id":"https://openalex.org/I10902133","display_name":"Universitat Jaume I","ror":"https://ror.org/02ws1xc11","country_code":"ES","type":"education","lineage":["https://openalex.org/I10902133"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Pedro J. Sanz","raw_affiliation_strings":["Interactive and Robotic Systems Lab (IRS-Lab), Jaume I University, Castell\u00f3n de la Plana, Spain"],"raw_orcid":"https://orcid.org/0000-0003-3382-1553","affiliations":[{"raw_affiliation_string":"Interactive and Robotic Systems Lab (IRS-Lab), Jaume I University, Castell\u00f3n de la Plana, Spain","institution_ids":["https://openalex.org/I10902133"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5083422841"],"corresponding_institution_ids":["https://openalex.org/I251424209"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":6.9414,"has_fulltext":true,"cited_by_count":62,"citation_normalized_percentile":{"value":0.97603426,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"9","issue":null,"first_page":"37668","last_page":"37684"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.7336358428001404},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7166465520858765},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6406490206718445},{"id":"https://openalex.org/keywords/intervention-auv","display_name":"Intervention AUV","score":0.4540787637233734},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4436677396297455},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.44134050607681274},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40444841980934143},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.36446869373321533},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.3545273542404175},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34755831956863403},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2926938235759735},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.24979615211486816},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2465212643146515},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14306747913360596}],"concepts":[{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.7336358428001404},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7166465520858765},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6406490206718445},{"id":"https://openalex.org/C110071780","wikidata":"https://www.wikidata.org/wiki/Q6057342","display_name":"Intervention AUV","level":5,"score":0.4540787637233734},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4436677396297455},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.44134050607681274},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40444841980934143},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36446869373321533},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.3545273542404175},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34755831956863403},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2926938235759735},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.24979615211486816},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2465212643146515},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14306747913360596},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/access.2021.3063669","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3063669","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09367135.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:071d51bb80fd40c6bb346045f2c5f09c","is_oa":true,"landing_page_url":"https://doaj.org/article/071d51bb80fd40c6bb346045f2c5f09c","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 37668-37684 (2021)","raw_type":"article"},{"id":"pmh:oai:dugi-doc.udg.edu:10256/20307","is_oa":true,"landing_page_url":"http://hdl.handle.net/10256/20307","pdf_url":null,"source":{"id":"https://openalex.org/S4306401633","display_name":"Universitat de Girona Digital Repository (Universitat de Girona)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I251424209","host_organization_name":"Universitat de Girona","host_organization_lineage":["https://openalex.org/I251424209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Articles publicats (D-ATC)","raw_type":"peer-reviewed"},{"id":"pmh:oai:dugi-doc.udg.edu:10256/20308","is_oa":true,"landing_page_url":"http://hdl.handle.net/10256/20308","pdf_url":null,"source":{"id":"https://openalex.org/S4306401633","display_name":"Universitat de Girona Digital Repository (Universitat de Girona)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I251424209","host_organization_name":"Universitat de Girona","host_organization_lineage":["https://openalex.org/I251424209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Articles publicats (D-ATC)","raw_type":"peer-reviewed"},{"id":"pmh:oai:repositori.uji.es:10234/193071","is_oa":true,"landing_page_url":"http://hdl.handle.net/10234/193071","pdf_url":null,"source":{"id":"https://openalex.org/S4306400303","display_name":"Repositori UJI (Universitat Jaume I)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I10902133","host_organization_name":"Universitat Jaume I","host_organization_lineage":["https://openalex.org/I10902133"],"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":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3063669","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3063669","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09367135.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5899999737739563,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G1972066525","display_name":null,"funder_award_id":"2019FI_B_00812","funder_id":"https://openalex.org/F4320336078","funder_display_name":"Departament d'Empresa i Coneixement, Generalitat de Catalunya"},{"id":"https://openalex.org/G1991358258","display_name":null,"funder_award_id":"DPI2017-86372-C3","funder_id":"https://openalex.org/F4320326262","funder_display_name":"Ministerio de Asuntos Econ\u00f3micos y Transformaci\u00f3n Digital, Gobierno de Espa\u00f1a"},{"id":"https://openalex.org/G237854967","display_name":null,"funder_award_id":"IDIFEDER/2018/013","funder_id":"https://openalex.org/F4320321864","funder_display_name":"Generalitat Valenciana"},{"id":"https://openalex.org/G6992928656","display_name":null,"funder_award_id":"2019FI_B_00812","funder_id":"https://openalex.org/F4320321505","funder_display_name":"Generalitat de Catalunya"}],"funders":[{"id":"https://openalex.org/F4320321505","display_name":"Generalitat de Catalunya","ror":"https://ror.org/01bg62x04"},{"id":"https://openalex.org/F4320321864","display_name":"Generalitat Valenciana","ror":"https://ror.org/0097mvx21"},{"id":"https://openalex.org/F4320326262","display_name":"Ministerio de Asuntos Econ\u00f3micos y Transformaci\u00f3n Digital, Gobierno de Espa\u00f1a","ror":"https://ror.org/03sv46s19"},{"id":"https://openalex.org/F4320336078","display_name":"Departament d'Empresa i Coneixement, Generalitat de Catalunya","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3134170491.pdf","grobid_xml":"https://content.openalex.org/works/W3134170491.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1135555303","https://openalex.org/W1518169716","https://openalex.org/W1727070462","https://openalex.org/W1976915699","https://openalex.org/W1981574184","https://openalex.org/W1989967481","https://openalex.org/W2006808347","https://openalex.org/W2042544380","https://openalex.org/W2047277930","https://openalex.org/W2051039201","https://openalex.org/W2072763216","https://openalex.org/W2113265921","https://openalex.org/W2140933031","https://openalex.org/W2170324401","https://openalex.org/W2243280685","https://openalex.org/W2285842192","https://openalex.org/W2336155359","https://openalex.org/W2337286925","https://openalex.org/W2483992743","https://openalex.org/W2511365211","https://openalex.org/W2562901529","https://openalex.org/W2752368885","https://openalex.org/W2805031923","https://openalex.org/W2807785345","https://openalex.org/W2908840628","https://openalex.org/W2943882439","https://openalex.org/W2952127625","https://openalex.org/W2980107516","https://openalex.org/W2996440779","https://openalex.org/W3006593729","https://openalex.org/W4240172577","https://openalex.org/W6637534934","https://openalex.org/W7067029129"],"related_works":["https://openalex.org/W4312756471","https://openalex.org/W207782069","https://openalex.org/W1644223116","https://openalex.org/W2565945735","https://openalex.org/W2041321216","https://openalex.org/W1485496002","https://openalex.org/W4403681591","https://openalex.org/W4213259294","https://openalex.org/W4372267671","https://openalex.org/W2079693677"],"abstract_inverted_index":{"Underwater":[0,41],"Inspection,":[1],"Maintenance,":[2],"and":[3,75,79,98,113,142,202,219,226,234,239],"Repair":[4],"operations":[5],"are":[6,163,230],"nowadays":[7],"performed":[8,242],"using":[9,62,102,132,247],"Remotely":[10],"Operated":[11],"Vehicles":[12,42],"(ROV)":[13],"deployed":[14],"from":[15],"dynamic-positioning":[16],"vessels,":[17],"having":[18],"high":[19],"daily":[20],"operational":[21],"costs.":[22,56],"During":[23],"the":[24,28,47,51,59,88,94,119,140,144,148,153,174,195,199,203,214,217,220],"last":[25],"twenty":[26],"years,":[27],"research":[29],"community":[30],"has":[31,64],"been":[32,65],"making":[33],"an":[34],"effort":[35],"to":[36,67],"design":[37],"new":[38],"Intervention":[39],"Autonomous":[40],"(I-AUV),":[43],"which":[44],"could,":[45],"in":[46,124,232,243],"near":[48],"future,":[49],"replace":[50],"ROVs,":[52],"significantly":[53],"decreasing":[54],"these":[55,209],"Until":[57],"now,":[58],"experimental":[60,240],"work":[61],"I-AUVs":[63],"limited":[66,110,114,176],"a":[68,129,133,157,166,187,244],"few":[69],"single-vehicle":[70],"interventions,":[71],"including":[72],"object":[73],"search":[74],"recovery,":[76],"valve":[77],"turning,":[78],"hot":[80],"stab":[81],"operations.":[82],"More":[83],"complex":[84],"scenarios":[85],"usually":[86],"require":[87],"cooperation":[89],"of":[90,96,108,121,135,155,189,208,216],"multiple":[91],"agents,":[92],"i.e.,":[93],"transportation":[95],"large":[97],"heavy":[99],"objects.":[100],"Moreover,":[101],"small,":[103],"autonomous":[104],"vehicles":[105],"requires":[106],"consideration":[107],"their":[109,227],"load":[111,141],"capacity":[112],"manipulation":[115],"force/torque":[116],"capabilities.":[117],"Following":[118],"idea":[120],"multi-agent":[122],"systems,":[123],"this":[125],"paper":[126],"we":[127,151],"propose":[128],"possible":[130],"solution:":[131],"group":[134],"cooperating":[136],"I-AUVs,":[137],"thus":[138],"sharing":[139],"optimizing":[143],"stress":[145],"exerted":[146],"on":[147,165],"manipulators.":[149],"Specifically,":[150],"tackle":[152],"problem":[154],"transporting":[156],"long":[158],"pipe.":[159],"The":[160,181,223],"presented":[161],"ideas":[162],"based":[164],"decentralized":[167],"Task-Priority":[168],"kinematic":[169],"control":[170],"algorithm":[171,193],"adapted":[172],"for":[173,198],"highly":[175],"communication":[177],"bandwidth":[178],"available":[179],"underwater.":[180],"aforementioned":[182],"pipe":[183,218],"is":[184],"transported":[185],"following":[186],"sequence":[188],"poses.":[190],"A":[191],"path-following":[192],"computes":[194],"desired":[196],"velocities":[197],"robots'":[200],"end-effectors,":[201],"on-board":[204],"controllers":[205],"ensure":[206],"tracking":[207],"setpoints,":[210],"taking":[211],"into":[212],"account":[213],"geometry":[215],"vehicles'":[221],"limitations.":[222],"utilized":[224],"algorithms":[225],"practical":[228],"implementation":[229],"discussed":[231],"detail":[233],"validated":[235],"through":[236],"extensive":[237],"simulations":[238],"trials":[241],"test":[245],"tank":[246],"two":[248],"8":[249],"DOF":[250],"I-AUVs.":[251]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":6}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
