{"id":"https://openalex.org/W3119949940","doi":"https://doi.org/10.1109/cdc42340.2020.9303858","title":"Safety-Guaranteed Real-Time Trajectory Planning for Underwater Vehicles in Plane-Progressive Waves","display_name":"Safety-Guaranteed Real-Time Trajectory Planning for Underwater Vehicles in Plane-Progressive Waves","publication_year":2020,"publication_date":"2020-12-14","ids":{"openalex":"https://openalex.org/W3119949940","doi":"https://doi.org/10.1109/cdc42340.2020.9303858","mag":"3119949940"},"language":"en","primary_location":{"id":"doi:10.1109/cdc42340.2020.9303858","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc42340.2020.9303858","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 59th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5066012429","display_name":"Seth Siriya","orcid":"https://orcid.org/0000-0002-8212-0975"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Seth Siriya","raw_affiliation_strings":["University of Melbourne"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Melbourne","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002194849","display_name":"Minh Xuan Bui","orcid":"https://orcid.org/0000-0001-8591-7413"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Minh Bui","raw_affiliation_strings":["School of Computing Science, Simon Fraser University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing Science, Simon Fraser University","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035046431","display_name":"Arrvindh Shriraman","orcid":"https://orcid.org/0000-0001-8466-5701"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Arrvindh Shriraman","raw_affiliation_strings":["School of Computing Science, Simon Fraser University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing Science, Simon Fraser University","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100387244","display_name":"Mo Chen","orcid":"https://orcid.org/0000-0001-8506-3665"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mo Chen","raw_affiliation_strings":["School of Computing Science, Simon Fraser University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing Science, Simon Fraser University","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047225984","display_name":"Ye Pu","orcid":"https://orcid.org/0000-0001-5924-0859"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ye Pu","raw_affiliation_strings":["University of Melbourne"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Melbourne","institution_ids":["https://openalex.org/I165779595"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5249","last_page":"5254"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9958000183105469,"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/T12158","display_name":"Guidance and Control Systems","score":0.9909999966621399,"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/trajectory","display_name":"Trajectory","score":0.835523247718811},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.601807713508606},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5765105485916138},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5696352124214172},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.568456768989563},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5632418990135193},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5548315644264221},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5192837119102478},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.48188263177871704},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.47265732288360596},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.45886677503585815},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4389249384403229},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34190839529037476},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3415910601615906},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28573036193847656},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24214178323745728},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14517804980278015},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11862984299659729},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.08097660541534424}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.835523247718811},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.601807713508606},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5765105485916138},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5696352124214172},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.568456768989563},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5632418990135193},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5548315644264221},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5192837119102478},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.48188263177871704},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.47265732288360596},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.45886677503585815},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4389249384403229},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34190839529037476},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3415910601615906},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28573036193847656},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24214178323745728},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14517804980278015},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11862984299659729},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.08097660541534424},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc42340.2020.9303858","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc42340.2020.9303858","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 59th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320315885","display_name":"Australian Government","ror":"https://ror.org/0314h5y94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1833024299","https://openalex.org/W1975236902","https://openalex.org/W2071099748","https://openalex.org/W2116194307","https://openalex.org/W2116364955","https://openalex.org/W2291867183","https://openalex.org/W2766918150","https://openalex.org/W2774564324","https://openalex.org/W2795039172","https://openalex.org/W2892042382","https://openalex.org/W2950610101","https://openalex.org/W2951930445","https://openalex.org/W3131580247","https://openalex.org/W6754860557","https://openalex.org/W6764312299"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"Trajectory":[0],"planning":[1,98,115],"is":[2,68,93],"a":[3,27,50,58,73],"central":[4],"task":[5],"for":[6,96],"operating":[7],"autonomous":[8],"underwater":[9,15],"vehicles.":[10],"However,":[11],"strong":[12],"disturbances":[13,47,106],"in":[14,34,80,107,111],"environments":[16],"such":[17],"as":[18,49,57],"currents":[19],"and":[20,30,53,55,60,76,89],"waves":[21],"can":[22],"cause":[23],"large":[24],"deviations":[25],"between":[26],"planned":[28],"trajectory":[29,97,114],"the":[31,118],"vehicle,":[32],"resulting":[33],"obstacle":[35],"collision.":[36],"In":[37],"this":[38,42,87,108],"paper,":[39],"we":[40],"address":[41],"problem":[43],"by":[44,86],"modelling":[45,105],"wave":[46],"first":[48],"time-":[51],"varying":[52],"position-independent":[54],"then":[56,69,94],"time-varying":[59],"position-dependent":[61],"function.":[62],"A":[63],"Hamilton-Jacobi":[64],"differential":[65],"game":[66],"formulation":[67],"used":[70,95],"to":[71,117],"compute":[72],"value":[74],"function":[75],"level":[77],"set.":[78],"Obstacles":[79],"an":[81],"environment":[82],"are":[83],"subsequently":[84],"augmented":[85],"set,":[88],"model":[90],"predictive":[91],"control":[92],"whilst":[99],"guaranteeing":[100],"safety.":[101],"We":[102],"find":[103],"that":[104],"way":[109],"results":[110],"less-conservative":[112],"safety-guaranteed":[113],"compared":[116],"case":[119],"of":[120],"time-invariant":[121],"disturbances.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
