{"id":"https://openalex.org/W3011822938","doi":"https://doi.org/10.1109/cdc40024.2019.9029725","title":"Streamline-Based Control of Underwater Gliders in 3D Environments","display_name":"Streamline-Based Control of Underwater Gliders in 3D Environments","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3011822938","doi":"https://doi.org/10.1109/cdc40024.2019.9029725","mag":"3011822938"},"language":"en","primary_location":{"id":"doi:10.1109/cdc40024.2019.9029725","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9029725","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 58th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2005.03834","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"K. Y. Cadmus To","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"K. Y. Cadmus To","raw_affiliation_strings":["University of Technology Sydney, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Technology Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":null,"display_name":"James Ju Heon Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"James Ju Heon Lee","raw_affiliation_strings":["University of Technology Sydney, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Technology Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chanyeol Yoo","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Chanyeol Yoo","raw_affiliation_strings":["University of Technology Sydney, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Technology Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Stuart Anstee","orcid":null},"institutions":[{"id":"https://openalex.org/I1303474014","display_name":"Defence Science and Technology Group","ror":"https://ror.org/05ddrvt52","country_code":"AU","type":"government","lineage":["https://openalex.org/I1303474014","https://openalex.org/I2801453606","https://openalex.org/I3139952251"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Stuart Anstee","raw_affiliation_strings":["Department of Defence, Defence Science and Technology Group, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Defence, Defence Science and Technology Group, Australia","institution_ids":["https://openalex.org/I1303474014"]}]},{"author_position":"last","author":{"id":null,"display_name":"Robert Fitch","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Robert Fitch","raw_affiliation_strings":["University of Technology Sydney, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Technology Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0815,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.77013991,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"11","issue":null,"first_page":"8303","last_page":"8310"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9965000152587891,"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/underwater-glider","display_name":"Underwater glider","score":0.9059000015258789},{"id":"https://openalex.org/keywords/glider","display_name":"Glider","score":0.6629999876022339},{"id":"https://openalex.org/keywords/sawtooth-wave","display_name":"Sawtooth wave","score":0.6305000185966492},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5353000164031982},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5307999849319458},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4553000032901764},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4505999982357025},{"id":"https://openalex.org/keywords/streamlines-streaklines-and-pathlines","display_name":"Streamlines, streaklines, and pathlines","score":0.4320000112056732},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.41839998960494995},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.4018999934196472}],"concepts":[{"id":"https://openalex.org/C34824556","wikidata":"https://www.wikidata.org/wiki/Q2634473","display_name":"Underwater glider","level":3,"score":0.9059000015258789},{"id":"https://openalex.org/C73525677","wikidata":"https://www.wikidata.org/wiki/Q2396202","display_name":"Glider","level":2,"score":0.6629999876022339},{"id":"https://openalex.org/C148837635","wikidata":"https://www.wikidata.org/wiki/Q1742397","display_name":"Sawtooth wave","level":2,"score":0.6305000185966492},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5353000164031982},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5307999849319458},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.475600004196167},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4708999991416931},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4553000032901764},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4505999982357025},{"id":"https://openalex.org/C60439489","wikidata":"https://www.wikidata.org/wiki/Q634407","display_name":"Streamlines, streaklines, and pathlines","level":2,"score":0.4320000112056732},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.41839998960494995},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.4018999934196472},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3982999920845032},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.37049999833106995},{"id":"https://openalex.org/C538625479","wikidata":"https://www.wikidata.org/wiki/Q6497624","display_name":"Buoyancy","level":2,"score":0.3668999969959259},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3483000099658966},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33239999413490295},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32600000500679016},{"id":"https://openalex.org/C2776248883","wikidata":"https://www.wikidata.org/wiki/Q17154087","display_name":"Ocean observations","level":2,"score":0.31529998779296875},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3091999888420105},{"id":"https://openalex.org/C141614622","wikidata":"https://www.wikidata.org/wiki/Q7002983","display_name":"Neutral buoyancy","level":2,"score":0.28940001130104065},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.2888999879360199},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2809000015258789},{"id":"https://openalex.org/C25761169","wikidata":"https://www.wikidata.org/wiki/Q1757070","display_name":"Mission control center","level":2,"score":0.2718999981880188},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27149999141693115},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.27129998803138733},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.263700008392334},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2624000012874603},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.25949999690055847},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.25769999623298645},{"id":"https://openalex.org/C109661024","wikidata":"https://www.wikidata.org/wiki/Q17027571","display_name":"Vertical plane","level":2,"score":0.2565000057220459},{"id":"https://openalex.org/C118974865","wikidata":"https://www.wikidata.org/wiki/Q7300773","display_name":"Real-time Control System","level":3,"score":0.25540000200271606},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2524999976158142}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc40024.2019.9029725","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9029725","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 58th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2005.03834","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2005.03834","pdf_url":"https://arxiv.org/pdf/2005.03834","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2005.03834","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2005.03834","pdf_url":"https://arxiv.org/pdf/2005.03834","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1504761831","https://openalex.org/W1971086298","https://openalex.org/W1972047326","https://openalex.org/W2000359213","https://openalex.org/W2002349129","https://openalex.org/W2033237147","https://openalex.org/W2037110062","https://openalex.org/W2060575643","https://openalex.org/W2071099748","https://openalex.org/W2076620287","https://openalex.org/W2088043574","https://openalex.org/W2097868028","https://openalex.org/W2120975466","https://openalex.org/W2121054762","https://openalex.org/W2138181196","https://openalex.org/W2162892989","https://openalex.org/W2171058644","https://openalex.org/W2267184893","https://openalex.org/W2292310825","https://openalex.org/W2292344877","https://openalex.org/W2323637477","https://openalex.org/W2331232577","https://openalex.org/W2416852083","https://openalex.org/W2419449739","https://openalex.org/W2748497616","https://openalex.org/W2801907389","https://openalex.org/W2807519808","https://openalex.org/W2911474998","https://openalex.org/W2967042539","https://openalex.org/W3003677009","https://openalex.org/W6758888352","https://openalex.org/W6760242795"],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"underwater":[1,41],"gliders":[2,16,178],"use":[3],"buoyancy":[4],"control":[5,24,40,82,161,164],"to":[6,20,39,129,148,158],"achieve":[7],"forward":[8],"propulsion":[9],"via":[10],"a":[11,37,91,105,109,124,143,159],"sawtooth-like,":[12],"rise-and-fall":[13],"trajectory.":[14],"Because":[15],"are":[17,57],"slow-moving":[18],"relative":[19],"ocean":[21,95],"currents,":[22],"glider":[23],"must":[25],"consider":[26],"the":[27,44,58,65,116],"effect":[28],"of":[29,54,61,69,94,115],"oceanic":[30,50,181],"flows.":[31,182],"In":[32,75],"previous":[33],"work,":[34],"we":[35,78],"proposed":[36],"method":[38],"vehicles":[42],"in":[43,52,71,86,138,140,179],"(horizontal)":[45],"plane":[46],"by":[47,89],"describing":[48],"such":[49],"flows":[51],"terms":[53],"streamlines,":[55],"which":[56],"level":[59],"sets":[60],"stream":[62],"functions.":[63],"However,":[64],"general":[66],"analytical":[67],"form":[68],"streamlines":[70],"3D":[72,87],"is":[73,153],"unknown.":[74],"this":[76,121],"paper,":[77],"show":[79],"how":[80],"streamline":[81],"can":[83,165],"be":[84,166],"used":[85],"environments":[88],"assuming":[90],"2.5D":[92],"model":[93],"currents.":[96],"We":[97],"provide":[98,135],"an":[99,154],"efficient":[100],"algorithm":[101,122],"that":[102],"acts":[103],"as":[104],"steering":[106],"function":[107],"for":[108,174,177],"single":[110],"rise":[111],"or":[112],"dive":[113],"component":[114],"glider's":[117],"sawtooth":[118],"trajectory,":[119],"integrate":[120],"within":[123,168],"sampling-based":[125,170],"motion":[126],"planning":[127,176],"framework":[128],"support":[130],"long-distance":[131],"path":[132],"planning,":[133],"and":[134,172],"several":[136],"examples":[137],"simulation":[139],"comparison":[141],"with":[142],"baseline":[144],"method.":[145],"The":[146],"key":[147],"our":[149],"method's":[150],"computational":[151],"efficiency":[152],"elegant":[155],"dimensionality":[156],"reduction":[157],"1D":[160],"region.":[162],"Streamline-based":[163],"integrated":[167],"various":[169],"frameworks":[171],"allows":[173],"online":[175],"complicated":[180]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2020-03-23T00:00:00"}
