{"id":"https://openalex.org/W4315471962","doi":"https://doi.org/10.1109/cdc51059.2022.9993101","title":"Data-Driven Damage Detection and Control Adaptation for an Autonomous Underwater Vehicle","display_name":"Data-Driven Damage Detection and Control Adaptation for an Autonomous Underwater Vehicle","publication_year":2022,"publication_date":"2022-12-06","ids":{"openalex":"https://openalex.org/W4315471962","doi":"https://doi.org/10.1109/cdc51059.2022.9993101"},"language":"en","primary_location":{"id":"doi:10.1109/cdc51059.2022.9993101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9993101","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-322736","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057300556","display_name":"\u00d6zer \u00d6zkahraman","orcid":"https://orcid.org/0000-0001-5656-0259"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Ozer Ozkahraman","raw_affiliation_strings":["KTH Royal Institute of Technology"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074233611","display_name":"Pouria Tajvar","orcid":"https://orcid.org/0000-0001-9516-6764"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Pouria Tajvar","raw_affiliation_strings":["KTH Royal Institute of Technology"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055348953","display_name":"Dimos V. Dimarogonas","orcid":"https://orcid.org/0000-0001-7309-8086"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Dimos V. Dimarogonas","raw_affiliation_strings":["KTH Royal Institute of Technology"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070754732","display_name":"Petter \u00d6gren","orcid":"https://orcid.org/0000-0002-7714-928X"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Petter Ogren","raw_affiliation_strings":["KTH Royal Institute of Technology"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5057300556"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":0.7078,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.67381193,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3343","last_page":"3350"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9986000061035156,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9986000061035156,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9955999851226807,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9950000047683716,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7727795839309692},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6376636028289795},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6344000101089478},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5039462447166443},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4800049662590027},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4530215263366699},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.44475552439689636},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.43995577096939087},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.42423728108406067},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41139650344848633},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34627121686935425},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28532958030700684},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09032520651817322}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7727795839309692},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6376636028289795},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6344000101089478},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5039462447166443},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4800049662590027},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4530215263366699},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.44475552439689636},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.43995577096939087},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.42423728108406067},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41139650344848633},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34627121686935425},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28532958030700684},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09032520651817322},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc51059.2022.9993101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9993101","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:DiVA.org:kth-322736","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-322736","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:kth-322736","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-322736","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.7099999785423279}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1532859487","https://openalex.org/W1917989004","https://openalex.org/W1971022913","https://openalex.org/W1977918122","https://openalex.org/W1994005439","https://openalex.org/W2007093507","https://openalex.org/W2100538121","https://openalex.org/W2102799651","https://openalex.org/W2115627867","https://openalex.org/W2128728535","https://openalex.org/W2147497140","https://openalex.org/W2165558283","https://openalex.org/W2166077797","https://openalex.org/W2418213296","https://openalex.org/W2561367914","https://openalex.org/W2604589052","https://openalex.org/W2752215370","https://openalex.org/W2953286551","https://openalex.org/W2963149653","https://openalex.org/W2963346735","https://openalex.org/W2971244547","https://openalex.org/W2980107516","https://openalex.org/W3080304219","https://openalex.org/W3091056066","https://openalex.org/W3136089337","https://openalex.org/W3200238426","https://openalex.org/W3205597769","https://openalex.org/W4244364296","https://openalex.org/W4300672471","https://openalex.org/W6631732945","https://openalex.org/W6802647179"],"related_works":["https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1979383880","https://openalex.org/W4210919297"],"abstract_inverted_index":{"Underwater":[0],"robotic":[1],"exploration":[2],"missions":[3,19],"typically":[4],"involve":[5],"traveling":[6],"long":[7],"distances":[8],"without":[9],"any":[10],"human":[11],"contact.":[12],"The":[13],"robots":[14],"that":[15,117],"go":[16],"on":[17,87,146],"such":[18],"risk":[20],"getting":[21],"damaged":[22],"by":[23,104],"the":[24,38,58,63,83,98,101,115,127,140,143],"unknown":[25,45],"environment,":[26],"accruing":[27],"great":[28],"costs":[29],"and":[30,54,91,129,153],"missed":[31],"opportunities.":[32],"Thus":[33],"it":[34],"is":[35,118],"important":[36],"for":[37,121,133],"robot":[39,84,89,151],"to":[40,43,47,56,68,82,100],"be":[41],"able":[42],"accommodate":[44],"changes":[46,81,95],"its":[48],"dynamics":[49,116,128],"as":[50,52],"much":[51],"possible":[53],"attempt":[55],"finish":[57],"given":[59],"mission,":[60],"or":[61],"at":[62],"very":[64],"least":[65],"move":[66],"itself":[67],"a":[69,110,131,147],"retrievable":[70],"position.In":[71],"this":[72],"paper,":[73],"we":[74,77],"show":[75],"how":[76],"can":[78],"detect":[79],"physical":[80],"reliably":[85],"(79%":[86],"real":[88,150],"data)":[90],"then":[92],"incorporate":[93],"these":[94],"through":[96],"adapting":[97],"model":[99],"data":[102,123,152],"followed":[103],"automated":[105],"control":[106,136],"redesign.":[107],"We":[108,138],"adopt":[109],"piecewise-affine":[111],"(PWA)":[112],"modelling":[113],"of":[114,126,142,149],"well":[119],"suited":[120],"low":[122],"regime":[124],"learning":[125],"provides":[130],"structure":[132],"computationally":[134],"efficient":[135],"synthesis.":[137],"demonstrate":[139],"effectiveness":[141],"proposed":[144],"method":[145],"combination":[148],"simulated":[154],"scenarios.":[155]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
