{"id":"https://openalex.org/W4361862611","doi":"https://doi.org/10.1109/access.2023.3262985","title":"Multiple Autonomous Surface Vehicles for Autonomous Cooperative Navigation Tasks in a Marine Environment: Development and Preliminary Field Tests","display_name":"Multiple Autonomous Surface Vehicles for Autonomous Cooperative Navigation Tasks in a Marine Environment: Development and Preliminary Field Tests","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4361862611","doi":"https://doi.org/10.1109/access.2023.3262985"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3262985","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3262985","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10086525.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/ielx7/6287639/6514899/10086525.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084139833","display_name":"Jeonghong Park","orcid":"https://orcid.org/0000-0001-7628-0238"},"institutions":[{"id":"https://openalex.org/I4399657955","display_name":"Korea Research Institute of Ships and Ocean Engineering","ror":"https://ror.org/0046ap498","country_code":null,"type":"funder","lineage":["https://openalex.org/I4399657955"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeonghong Park","raw_affiliation_strings":["Advanced-Intelligent Ship Research Division, Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-7628-0238","affiliations":[{"raw_affiliation_string":"Advanced-Intelligent Ship Research Division, Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I4399657955"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047786361","display_name":"Minju Kang","orcid":"https://orcid.org/0000-0002-6328-2821"},"institutions":[{"id":"https://openalex.org/I4399657955","display_name":"Korea Research Institute of Ships and Ocean Engineering","ror":"https://ror.org/0046ap498","country_code":null,"type":"funder","lineage":["https://openalex.org/I4399657955"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Minju Kang","raw_affiliation_strings":["Advanced-Intelligent Ship Research Division, Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced-Intelligent Ship Research Division, Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I4399657955"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102761379","display_name":"Yeongjun Lee","orcid":"https://orcid.org/0000-0002-3808-8349"},"institutions":[{"id":"https://openalex.org/I4399657955","display_name":"Korea Research Institute of Ships and Ocean Engineering","ror":"https://ror.org/0046ap498","country_code":null,"type":"funder","lineage":["https://openalex.org/I4399657955"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yeongjun Lee","raw_affiliation_strings":["Ocean and Maritime Digital Technology Research Division, Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ocean and Maritime Digital Technology Research Division, Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I4399657955"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011270087","display_name":"Jongdae Jung","orcid":"https://orcid.org/0000-0001-6591-213X"},"institutions":[{"id":"https://openalex.org/I196345858","display_name":"Chungnam National University","ror":"https://ror.org/0227as991","country_code":"KR","type":"education","lineage":["https://openalex.org/I196345858"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jongdae Jung","raw_affiliation_strings":["Department of Naval Architecture and Ocean Engineering, Chungnam National University (CNU), Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-6591-213X","affiliations":[{"raw_affiliation_string":"Department of Naval Architecture and Ocean Engineering, Chungnam National University (CNU), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I196345858"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023099643","display_name":"Hyun\u2010Taek Choi","orcid":"https://orcid.org/0000-0002-1433-1957"},"institutions":[{"id":"https://openalex.org/I4399657955","display_name":"Korea Research Institute of Ships and Ocean Engineering","ror":"https://ror.org/0046ap498","country_code":null,"type":"funder","lineage":["https://openalex.org/I4399657955"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyun-Taek Choi","raw_affiliation_strings":["Advanced-Intelligent Ship Research Division, Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced-Intelligent Ship Research Division, Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I4399657955"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101690731","display_name":"Jinwoo Choi","orcid":"https://orcid.org/0000-0003-4775-2333"},"institutions":[{"id":"https://openalex.org/I4399657955","display_name":"Korea Research Institute of Ships and Ocean Engineering","ror":"https://ror.org/0046ap498","country_code":null,"type":"funder","lineage":["https://openalex.org/I4399657955"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jinwoo Choi","raw_affiliation_strings":["Advanced-Intelligent Ship Research Division, Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-4775-2333","affiliations":[{"raw_affiliation_string":"Advanced-Intelligent Ship Research Division, Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I4399657955"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"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":1.7096,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.81472763,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"11","issue":null,"first_page":"36203","last_page":"36217"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9998000264167786,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9998000264167786,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9941999912261963,"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":0.98089998960495,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6058366298675537},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.574625551700592},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5742931365966797},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.4771970212459564},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4484248459339142},{"id":"https://openalex.org/keywords/development","display_name":"Development (topology)","score":0.42526862025260925},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.38120877742767334},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.36468321084976196},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3225424587726593},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.29568713903427124},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2251594364643097},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21523797512054443},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20750519633293152}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6058366298675537},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.574625551700592},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5742931365966797},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.4771970212459564},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4484248459339142},{"id":"https://openalex.org/C2776542497","wikidata":"https://www.wikidata.org/wiki/Q5266672","display_name":"Development (topology)","level":2,"score":0.42526862025260925},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.38120877742767334},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.36468321084976196},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3225424587726593},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.29568713903427124},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2251594364643097},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21523797512054443},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20750519633293152},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3262985","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3262985","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10086525.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:e0ac0faebb32407483927273a49ca5b0","is_oa":true,"landing_page_url":"https://doaj.org/article/e0ac0faebb32407483927273a49ca5b0","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 11, Pp 36203-36217 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3262985","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3262985","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10086525.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":0.7400000095367432,"display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G4066522461","display_name":null,"funder_award_id":"PES4860","funder_id":"https://openalex.org/F4320328008","funder_display_name":"Korea Research Institute of Ships and Ocean Engineering"}],"funders":[{"id":"https://openalex.org/F4320312062","display_name":"T\u00fcrkiye Atom Enerjisi Kurumu","ror":"https://ror.org/05hp77p11"},{"id":"https://openalex.org/F4320321142","display_name":"Hanyang University","ror":"https://ror.org/046865y68"},{"id":"https://openalex.org/F4320321282","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12"},{"id":"https://openalex.org/F4320328008","display_name":"Korea Research Institute of Ships and Ocean Engineering","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4361862611.pdf","grobid_xml":"https://content.openalex.org/works/W4361862611.grobid-xml"},"referenced_works_count":44,"referenced_works":["https://openalex.org/W1673310716","https://openalex.org/W1981826826","https://openalex.org/W2043355089","https://openalex.org/W2048848526","https://openalex.org/W2052487511","https://openalex.org/W2058957948","https://openalex.org/W2060179679","https://openalex.org/W2085447089","https://openalex.org/W2116599690","https://openalex.org/W2119120935","https://openalex.org/W2119959427","https://openalex.org/W2130647945","https://openalex.org/W2160017919","https://openalex.org/W2177274602","https://openalex.org/W2204466549","https://openalex.org/W2345644119","https://openalex.org/W2501712694","https://openalex.org/W2505589724","https://openalex.org/W2548430521","https://openalex.org/W2557449035","https://openalex.org/W2561533584","https://openalex.org/W2619220155","https://openalex.org/W2744720501","https://openalex.org/W2765082137","https://openalex.org/W2789862859","https://openalex.org/W2793988263","https://openalex.org/W2916453681","https://openalex.org/W2938544154","https://openalex.org/W2955925916","https://openalex.org/W2991232381","https://openalex.org/W2999926820","https://openalex.org/W3021829494","https://openalex.org/W3037669777","https://openalex.org/W3042667211","https://openalex.org/W3088900811","https://openalex.org/W3132023223","https://openalex.org/W3156325972","https://openalex.org/W3158874054","https://openalex.org/W3173550749","https://openalex.org/W3206138165","https://openalex.org/W4226264323","https://openalex.org/W4285092551","https://openalex.org/W4315486684","https://openalex.org/W6963942623"],"related_works":["https://openalex.org/W2071768959","https://openalex.org/W4319442894","https://openalex.org/W2921408402","https://openalex.org/W4312767556","https://openalex.org/W2982615283","https://openalex.org/W2290286193","https://openalex.org/W4312370102","https://openalex.org/W2076947815","https://openalex.org/W2740881605","https://openalex.org/W4319459684"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,40,55,64,76,80,91,102,165,169,183,191,198,205,219],"development":[4],"and":[5,32,45,48,66,83,128,152,176,194,201,218],"field":[6,209],"testing":[7],"of":[8,63,171,197,204],"multiple":[9,100,138],"autonomous":[10,15,37,134],"surface":[11],"vehicles":[12,161],"(ASVs)":[13],"for":[14,96],"cooperative":[16,97,126,135,150,199],"navigation":[17,65,98,127,143,151,200],"tasks":[18],"in":[19,27,140,164,213,224],"marine":[20],"environments.":[21],"The":[22],"developed":[23,206],"ASVs":[24,139],"were":[25,52,211],"designed":[26,88,131],"a":[28,113,141,149,173,178],"catamaran":[29],"hull":[30],"form,":[31],"various":[33],"systems":[34],"related":[35],"to":[36,75,89,132,189],"functionalities,":[38],"including":[39],"electrical":[41],"propulsion,":[42],"wireless":[43],"communication,":[44],"guidance,":[46],"navigation,":[47],"control":[49,129,153,202],"(GNC)":[50],"systems,":[51],"integrated":[53],"with":[54,109,125,137],"situational":[56,67],"awareness":[57,68],"sensor":[58,69],"system.":[59,119],"Because":[60],"not":[61],"all":[62],"data":[70,84,92],"can":[71],"be":[72],"shared":[73,108],"owing":[74],"large":[77],"network":[78,81,103],"load,":[79],"communication":[82,104],"protocol":[85],"structure":[86],"was":[87,106,130,162],"enhance":[90],"management":[93],"efficiency.":[94],"Furthermore,":[95,148],"between":[99,160,186],"ASVs,":[101,207],"system":[105,116,145],"synchronously":[107],"motion":[110],"information":[111,159],"through":[112],"robot":[114],"operating":[115],"(ROS)":[117],"multi-master":[118],"In":[120],"particular,":[121],"an":[122,214],"autonomy":[123],"framework":[124],"enable":[133],"maneuvering":[136,193],"global":[142],"satellite":[144],"(GNSS)-denied":[146],"environment.":[147],"approach":[154,203],"based":[155,181],"on":[156,182],"relative":[157,184],"geometric":[158],"implemented":[163],"framework,":[166],"which":[167],"incorporated":[168],"capabilities":[170,196],"following":[172],"predefined":[174],"path":[175],"maintaining":[177],"specific":[179],"formation":[180],"distance":[185],"ASVs.":[187],"Moreover,":[188],"demonstrate":[190],"essential":[192],"functional":[195],"preliminary":[208],"tests":[210],"conducted":[212],"inland":[215],"water":[216],"environment,":[217],"test":[220],"results":[221],"are":[222],"discussed":[223],"this":[225],"paper.":[226]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}
