{"id":"https://openalex.org/W2042897262","doi":"https://doi.org/10.1109/ais.2010.5547041","title":"Hierarchical agent-based command and control system for autonomous underwater vehicles","display_name":"Hierarchical agent-based command and control system for autonomous underwater vehicles","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2042897262","doi":"https://doi.org/10.1109/ais.2010.5547041","mag":"2042897262"},"language":"en","primary_location":{"id":"doi:10.1109/ais.2010.5547041","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ais.2010.5547041","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 International Conference on Autonomous and Intelligent Systems, AIS 2010","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004426473","display_name":"Tan Yew Teck","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Tan Yew Teck","raw_affiliation_strings":["ARL, Tropical Marine Science Institute, National University of Singapore, Singapore","ARL; Tropical Marine Science Institute, National University of Singapore; Singapore"],"affiliations":[{"raw_affiliation_string":"ARL, Tropical Marine Science Institute, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"ARL; Tropical Marine Science Institute, National University of Singapore; Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067178295","display_name":"Mandar Chitre","orcid":"https://orcid.org/0000-0001-6243-7871"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Mandar Chitre","raw_affiliation_strings":["ARL, Tropical Marine Science Institute, National University of Singapore, Singapore","ARL; Tropical Marine Science Institute, National University of Singapore; Singapore"],"affiliations":[{"raw_affiliation_string":"ARL, Tropical Marine Science Institute, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"ARL; Tropical Marine Science Institute, National University of Singapore; Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053670340","display_name":"Prahlad Vadakkepat","orcid":"https://orcid.org/0000-0003-2649-9893"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Prahlad Vadakkepat","raw_affiliation_strings":["ARL, Tropical Marine Science Institute, National University of Singapore, Singapore","[Electrical & Computer Eng., National University of Singapore, Singapore]"],"affiliations":[{"raw_affiliation_string":"ARL, Tropical Marine Science Institute, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"[Electrical & Computer Eng., National University of Singapore, Singapore]","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5004426473"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":6.6517,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.96241161,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9990000128746033,"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":0.9990000128746033,"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/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T12203","display_name":"Mobile Agent-Based Network Management","score":0.9959999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7855082154273987},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5526321530342102},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5184388160705566},{"id":"https://openalex.org/keywords/command-and-control","display_name":"Command and control","score":0.5120887756347656},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.4814562201499939},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.46501830220222473},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4647810459136963},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4549815058708191},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44611576199531555},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4448527991771698},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42824065685272217},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3699735105037689},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23019146919250488},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1767798364162445},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15570631623268127},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09729769825935364}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7855082154273987},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5526321530342102},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5184388160705566},{"id":"https://openalex.org/C506615639","wikidata":"https://www.wikidata.org/wiki/Q21662260","display_name":"Command and control","level":2,"score":0.5120887756347656},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.4814562201499939},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.46501830220222473},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4647810459136963},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4549815058708191},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44611576199531555},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4448527991771698},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42824065685272217},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3699735105037689},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23019146919250488},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1767798364162445},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15570631623268127},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09729769825935364},{"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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"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/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ais.2010.5547041","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ais.2010.5547041","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 International Conference on Autonomous and Intelligent Systems, AIS 2010","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/51176","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/51176","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":[],"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Conference Paper"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.225.2065","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.225.2065","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://arl.nus.edu.sg/twiki/pub/ARL/BibEntries/Tan2010po.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.7799999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W66061204","https://openalex.org/W71358079","https://openalex.org/W150540462","https://openalex.org/W1545984840","https://openalex.org/W1895301005","https://openalex.org/W1963481462","https://openalex.org/W2084883566","https://openalex.org/W2122757995","https://openalex.org/W2123435877","https://openalex.org/W2135020456","https://openalex.org/W2137601537","https://openalex.org/W2146222712","https://openalex.org/W2153389331","https://openalex.org/W2545771588","https://openalex.org/W6602709704","https://openalex.org/W6641089247"],"related_works":["https://openalex.org/W4319442894","https://openalex.org/W2290286193","https://openalex.org/W2921408402","https://openalex.org/W2982615283","https://openalex.org/W4312767556","https://openalex.org/W4312370102","https://openalex.org/W1541316785","https://openalex.org/W2071768959","https://openalex.org/W2163297108","https://openalex.org/W2350380656"],"abstract_inverted_index":{"Over":[0],"the":[1,4,30,64,139,147,166,171,174,192],"past":[2],"decades,":[3],"design":[5,65],"and":[6,24,38,53,66,72,106,118],"development":[7,67],"of":[8,68,125,146,155,173,177],"mission":[9,102],"based":[10],"Autonomous":[11],"Underwater":[12],"Vehicle":[13],"(AUV)":[14],"continues":[15],"to":[16,84],"challenge":[17],"researchers.":[18],"Although":[19],"AUV":[20,36,79,168],"technology":[21],"has":[22,91,180],"matured":[23],"commercial":[25],"systems":[26],"have":[27],"appeared":[28],"in":[29,101],"market,":[31],"a":[32,44,51,69,76,92],"generic":[33,70],"yet":[34],"robust":[35],"command":[37,52],"control":[39,54,71,95,150,156],"(C2)":[40],"system":[41,55,90,161],"still":[42],"remains":[43],"key":[45],"research":[46],"area.":[47,195],"This":[48,87,136],"paper":[49],"presents":[50],"architecture":[56,74],"for":[57,75,113],"modular":[58,78],"AUVs.":[59],"We":[60],"particularly":[61],"focus":[62],"on":[63,165],"software":[73],"single":[77],"while":[80,109],"allowing":[81],"natural":[82],"extensions":[83],"multi-vehicle":[85],"scenarios.":[86],"proposed":[88],"C2":[89,134,160],"hybrid":[93],"modular-hierarchical":[94],"architecture.":[96],"It":[97,179],"adopts":[98],"top-down":[99],"approach":[100,112],"level":[103,123,154],"decision":[104],"making":[105],"task":[107],"planning":[108],"utilizing":[110],"bottom-up":[111],"navigational":[114],"control,":[115],"obstacle":[116],"avoidance":[117],"vehicle":[119,140],"fault":[120],"detection.":[121],"Each":[122],"consists":[124],"one":[126],"or":[127],"more":[128],"autonomous":[129,184],"agent":[130],"components":[131],"handling":[132],"different":[133,153],"tasks.":[135],"structure":[137],"provides":[138],"developers":[141],"with":[142],"an":[143],"explicit":[144],"view":[145],"clearly":[148],"defined":[149],"responsibilities":[151],"at":[152,170],"hierarchy.":[157],"The":[158],"resultant":[159],"is":[162],"currently":[163],"operational":[164],"STARFISH":[167],"built":[169],"ARL":[172],"National":[175],"University":[176],"Singapore.":[178],"successfully":[181],"executed":[182],"some":[183],"missions":[185],"during":[186],"sea":[187],"trials":[188],"carried":[189],"out":[190],"around":[191],"Singapore":[193],"coastal":[194]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":5}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
