{"id":"https://openalex.org/W4409761251","doi":"https://doi.org/10.1109/access.2025.3564077","title":"Boundary Control Behaviors of Multiple Low-Cost AUVs Using Acoustic Communication","display_name":"Boundary Control Behaviors of Multiple Low-Cost AUVs Using Acoustic Communication","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4409761251","doi":"https://doi.org/10.1109/access.2025.3564077"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3564077","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3564077","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":"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://doi.org/10.1109/access.2025.3564077","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5115003264","display_name":"Mohammed Tarnini","orcid":"https://orcid.org/0009-0004-1731-2024"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":true,"raw_author_name":"Mohammed Tarnini","raw_affiliation_strings":["Department of Mechanical and Nuclear Engineering, Khalifa University, Abu Dhabi, United Arab Emirates"],"raw_orcid":"https://orcid.org/0009-0004-1731-2024","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Nuclear Engineering, Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046305853","display_name":"Saverio Iacoponi","orcid":"https://orcid.org/0000-0001-7790-2748"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Saverio Iacoponi","raw_affiliation_strings":["Department of Mechanical and Nuclear Engineering, Khalifa University, Abu Dhabi, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0001-7790-2748","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Nuclear Engineering, Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092851617","display_name":"Andrea Infanti","orcid":null},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Andrea Infanti","raw_affiliation_strings":["Department of Mechanical and Nuclear Engineering, Khalifa University, Abu Dhabi, United Arab Emirates"],"raw_orcid":"https://orcid.org/0009-0006-5285-4376","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Nuclear Engineering, Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103130838","display_name":"Cesare Stefanini","orcid":null},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cesare Stefanini","raw_affiliation_strings":["The BioRobotics Institute, Scuola Superiore Sant’Anna, Pontedera, Italy"],"raw_orcid":"https://orcid.org/0000-0001-5581-3875","affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant’Anna, Pontedera, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101980137","display_name":"G. Masi","orcid":"https://orcid.org/0000-0003-3284-880X"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]},{"id":"https://openalex.org/I4210141120","display_name":"Sorbonne University Abu Dhabi","ror":"https://ror.org/03e1ymy32","country_code":"AE","type":"education","lineage":["https://openalex.org/I4210141120"]}],"countries":["AE","IT"],"is_corresponding":false,"raw_author_name":"Giulia de Masi","raw_affiliation_strings":["The BioRobotics Institute, Scuola Superiore Sant’Anna, Pontedera, Italy","SAFIR, Sorbonne University, Abu Dhabi, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0003-3284-880X","affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant’Anna, Pontedera, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"SAFIR, Sorbonne University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I4210141120"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043823023","display_name":"Federico Renda","orcid":"https://orcid.org/0000-0002-1833-9809"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Federico Renda","raw_affiliation_strings":["Department of Mechanical and Nuclear Engineering, Khalifa University, Abu Dhabi, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0002-1833-9809","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Nuclear Engineering, Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5115003264"],"corresponding_institution_ids":["https://openalex.org/I176601375"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.975,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.7296608,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"13","issue":null,"first_page":"72506","last_page":"72525"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9977999925613403,"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":0.9977999925613403,"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":0.9860000014305115,"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"}},{"id":"https://openalex.org/T12719","display_name":"Aerospace Engineering and Energy 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/computer-science","display_name":"Computer science","score":0.5499680042266846},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.5036680102348328},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.49826478958129883},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4630148112773895},{"id":"https://openalex.org/keywords/underwater-acoustic-communication","display_name":"Underwater acoustic communication","score":0.4521125555038452},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.2633205056190491},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.18741676211357117},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1353791356086731},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10883927345275879},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.09343871474266052}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5499680042266846},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.5036680102348328},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.49826478958129883},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4630148112773895},{"id":"https://openalex.org/C169111936","wikidata":"https://www.wikidata.org/wiki/Q424098","display_name":"Underwater acoustic communication","level":3,"score":0.4521125555038452},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.2633205056190491},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.18741676211357117},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1353791356086731},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10883927345275879},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.09343871474266052},{"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":3,"locations":[{"id":"doi:10.1109/access.2025.3564077","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3564077","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":"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:HAL:hal-05049356v1","is_oa":true,"landing_page_url":"https://hal.science/hal-05049356","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"IEEE Access, 2025, 13, pp.72506 - 72525. ⟨10.1109/ACCESS.2025.3564077⟩","raw_type":"Journal articles"},{"id":"pmh:oai:doaj.org/article:0dae36d56c1a4002b01cf090053a8f7c","is_oa":true,"landing_page_url":"https://doaj.org/article/0dae36d56c1a4002b01cf090053a8f7c","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 13, Pp 72506-72525 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3564077","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3564077","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":"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":[],"awards":[{"id":"https://openalex.org/G648140960","display_name":null,"funder_award_id":"RC1-2018-KUCARS","funder_id":"https://openalex.org/F4320322334","funder_display_name":"Khalifa University of Science, Technology and Research"}],"funders":[{"id":"https://openalex.org/F4320322334","display_name":"Khalifa University of Science, Technology and Research","ror":"https://ror.org/05hffr360"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1622386328","https://openalex.org/W2008627816","https://openalex.org/W2021140289","https://openalex.org/W2054935048","https://openalex.org/W2057556864","https://openalex.org/W2073665503","https://openalex.org/W2078372240","https://openalex.org/W2129757690","https://openalex.org/W2144674737","https://openalex.org/W2162992515","https://openalex.org/W2304063466","https://openalex.org/W2411333092","https://openalex.org/W2546528879","https://openalex.org/W2760761026","https://openalex.org/W2883731169","https://openalex.org/W2920572859","https://openalex.org/W3119182912","https://openalex.org/W3131290367","https://openalex.org/W3207021104","https://openalex.org/W4240062068","https://openalex.org/W4285102231","https://openalex.org/W4312302304","https://openalex.org/W4312605763","https://openalex.org/W4316660825","https://openalex.org/W4319988671","https://openalex.org/W4321020673","https://openalex.org/W4389247580","https://openalex.org/W4391097136","https://openalex.org/W4393870016","https://openalex.org/W4403826712"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W3107825986"],"abstract_inverted_index":{"This":[0,14],"study":[1,15],"presents":[2],"acoustic-based":[3],"methods":[4,66],"for":[5,20],"the":[6,43,53,69,84,96,99,130,140,148,165,184,195,199],"control":[7,25,114,150],"of":[8,45,56,98,203],"multiple":[9],"autonomous":[10,173],"underwater":[11,158],"vehicles":[12],"(AUVs).":[13],"proposes":[16],"two":[17,112],"different":[18],"models":[19,39,108],"implementing":[21],"boundary":[22,101,113,149],"and":[23,32,48,91,103,117,160,175,189,201],"path":[24,138],"on":[26,42,52,60,76,111,135,198],"low-cost":[27],"AUVs":[28,122,131,185],"using":[29],"acoustic":[30,36,81],"communication":[31],"a":[33,61,136,204],"single":[34],"central":[35,100],"beacon.":[37,141],"Both":[38],"are":[40,67,109,143,192],"based":[41,59],"history":[44],"relative":[46],"range":[47,77,92],"do":[49],"not":[50],"rely":[51],"full":[54],"knowledge":[55],"theAUVs":[57],"states":[58],"centralized":[62],"beacon":[63,102],"system.":[64,206],"Two":[65],"presented:":[68],"Range":[70],"Variation-Based":[71],"(RVB)":[72],"model":[73,88],"completely":[74],"relies":[75],"data":[78],"obtained":[79],"by":[80,145],"modems,":[82],"whereas":[83],"Heading":[85],"Estimation-Based":[86],"(HEB)":[87],"uses":[89],"ranges":[90],"rates":[93],"to":[94,132,183],"estimate":[95],"position":[97],"perform":[104],"assigned":[105],"behaviors.":[106],"The":[107],"tested":[110],"behaviors:":[115],"Fencing":[116,119],"Milling.":[118],"behavior":[120],"ensures":[121],"return":[123],"within":[124],"predefined":[125,137],"boundaries,":[126],"while":[127],"Milling":[128],"enables":[129],"move":[133],"cyclically":[134],"around":[139],"Models":[142],"validated":[144],"successfully":[146],"performing":[147],"behaviors":[151],"in":[152,164,194],"simulations,":[153],"pool":[154],"tests,":[155],"including":[156],"artificial":[157],"currents,":[159],"field":[161],"tests":[162,168],"conducted":[163],"ocean.":[166],"All":[167],"were":[169],"performed":[170],"with":[171],"fully":[172],"platforms,":[174],"no":[176],"external":[177],"input":[178],"or":[179],"sensor":[180],"was":[181],"provided":[182],"during":[186],"validation.":[187],"Quantitative":[188],"qualitative":[190],"analyses":[191],"presented":[193],"study,":[196],"focusing":[197],"effect":[200],"application":[202],"multi-robot":[205]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-10T00:00:00"}