{"id":"https://openalex.org/W2126461635","doi":"https://doi.org/10.1109/ais.2010.5547044","title":"Path planning for cooperative underwater range-only navigation using a single beacon","display_name":"Path planning for cooperative underwater range-only navigation using a single beacon","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2126461635","doi":"https://doi.org/10.1109/ais.2010.5547044","mag":"2126461635"},"language":"en","primary_location":{"id":"doi:10.1109/ais.2010.5547044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ais.2010.5547044","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/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":true,"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 18 Kent Ridge Road, Singapore 119227"],"raw_orcid":null,"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 18 Kent Ridge Road, Singapore 119227","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5067178295"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":8.6579,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.97529486,"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":1.0,"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":1.0,"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/T11698","display_name":"Underwater Acoustics Research","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9961000084877014,"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/beacon","display_name":"Beacon","score":0.9076519012451172},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.729658842086792},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6851373910903931},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.655082643032074},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6503952741622925},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.6432343125343323},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5379467606544495},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.495281845331192},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4854731857776642},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.44008737802505493},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24299928545951843},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20576226711273193},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.17209532856941223},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15802061557769775},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1348859667778015},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09328123927116394},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08084553480148315}],"concepts":[{"id":"https://openalex.org/C102168758","wikidata":"https://www.wikidata.org/wiki/Q7321258","display_name":"Beacon","level":2,"score":0.9076519012451172},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.729658842086792},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6851373910903931},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.655082643032074},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6503952741622925},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.6432343125343323},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5379467606544495},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.495281845331192},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4854731857776642},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.44008737802505493},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24299928545951843},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20576226711273193},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.17209532856941223},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15802061557769775},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1348859667778015},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09328123927116394},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08084553480148315},{"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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ais.2010.5547044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ais.2010.5547044","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:10635/71377","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/71377","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W166668249","https://openalex.org/W1506191678","https://openalex.org/W1963481462","https://openalex.org/W1982711454","https://openalex.org/W2108643378","https://openalex.org/W2115202367","https://openalex.org/W2164443866","https://openalex.org/W2177415451","https://openalex.org/W2181952072","https://openalex.org/W2487144912","https://openalex.org/W3215609958","https://openalex.org/W6606945998","https://openalex.org/W6630519964"],"related_works":["https://openalex.org/W2101178385","https://openalex.org/W2790129070","https://openalex.org/W2106845956","https://openalex.org/W3158435160","https://openalex.org/W2112938119","https://openalex.org/W2132294172","https://openalex.org/W2277502495","https://openalex.org/W2130422012","https://openalex.org/W2361792188","https://openalex.org/W1910620975"],"abstract_inverted_index":{"Autonomous":[0,87],"underwater":[1,39],"vehicles":[2,67,137],"(AUVs)":[3],"that":[4,166,181],"rely":[5],"on":[6,19],"dead":[7],"reckoning":[8],"suffer":[9],"from":[10],"unbounded":[11],"localization":[12,63,198],"error":[13],"growth":[14],"at":[15,52],"a":[16,34,65,75,126,149],"rate":[17],"dependent":[18],"the":[20,25,53,102,120,146,163,172,182,188],"quality":[21],"(and":[22],"cost)":[23],"of":[24,55,61,77,104,148],"navigational":[26,81,98],"sensors.":[27],"Many":[28],"AUVs":[29,78,95,108,190],"surface":[30,88],"occasionally":[31],"to":[32,111,115,153,191,195],"get":[33,192],"GPS":[35],"position":[36],"update.":[37],"Alternatively":[38],"acoustic":[40],"beacons":[41],"such":[42],"as":[43],"long":[44],"baseline":[45],"(LBL)":[46],"arrays":[47],"are":[48,109,138],"used":[49],"for":[50,123,132,162],"localization,":[51,134],"cost":[54],"substantial":[56],"deployment":[57],"effort.":[58],"The":[59],"idea":[60],"cooperative":[62],"with":[64,68,79,91,96],"few":[66],"high":[69],"navigation":[70],"accuracy":[71],"(beacon":[72],"vehicles)":[73],"among":[74],"team":[76],"poor":[80],"sensors":[82,99],"has":[83],"recently":[84],"gained":[85],"interest.":[86],"crafts":[89],"(ASCs)":[90],"GPS,":[92],"or":[93],"sophisticated":[94],"expensive":[97],"may":[100],"play":[101],"role":[103],"beacon":[105,136,151,164,184],"vehicles.":[106],"Other":[107],"able":[110],"measure":[112],"their":[113,197],"range":[114,128],"these":[116],"acoustically,":[117],"and":[118,170],"use":[119,147],"resulting":[121],"information":[122,194],"self-localization.":[124],"Since":[125],"single":[127,150],"measurement":[129],"is":[130],"insufficient":[131],"unambiguous":[133],"multiple":[135,155],"usually":[139],"required.":[140],"In":[141],"this":[142],"paper,":[143],"we":[144],"explore":[145],"vehicle":[152,165,185],"support":[154],"AUVs.":[156,178],"We":[157,179],"develop":[158],"path":[159,186],"planning":[160],"algorithms":[161],"take":[167],"into":[168],"account":[169],"minimize":[171],"errors":[173,199],"being":[174],"accumulated":[175],"by":[176],"other":[177,189],"show":[180],"generated":[183],"enables":[187],"sufficient":[193],"keep":[196],"bounded":[200],"over":[201],"time.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":3}],"updated_date":"2026-05-02T08:42:23.175194","created_date":"2025-10-10T00:00:00"}