{"id":"https://openalex.org/W7123353102","doi":"https://doi.org/10.1109/cdc57313.2025.11313015","title":"Clarity-Driven Ergodic Control for Persistent Tip-and-Cue Missions with Synchronized Rendezvous","display_name":"Clarity-Driven Ergodic Control for Persistent Tip-and-Cue Missions with Synchronized Rendezvous","publication_year":2025,"publication_date":"2025-12-09","ids":{"openalex":"https://openalex.org/W7123353102","doi":"https://doi.org/10.1109/cdc57313.2025.11313015"},"language":null,"primary_location":{"id":"doi:10.1109/cdc57313.2025.11313015","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc57313.2025.11313015","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 64th Conference on Decision and Control (CDC)","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/A5122878405","display_name":"David Li","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"David Li","raw_affiliation_strings":["University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI,USA,48109"],"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064215357","display_name":"Kavin Govindarajan","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kavin M. Govindarajan","raw_affiliation_strings":["University of Michigan,Department of Robotics,Ann Arbor,MI,USA,48109"],"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Robotics,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112578306","display_name":"Chris Vermillion","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chris Vermillion","raw_affiliation_strings":["University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI,USA,48109"],"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5122878405"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.7162803,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6394","last_page":"6399"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.5843999981880188,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.5843999981880188,"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"}},{"id":"https://openalex.org/T11082","display_name":"Spacecraft Dynamics and Control","score":0.18070000410079956,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.14959999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/rendezvous","display_name":"Rendezvous","score":0.9473999738693237},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6675999760627747},{"id":"https://openalex.org/keywords/host","display_name":"Host (biology)","score":0.6617000102996826},{"id":"https://openalex.org/keywords/ergodic-theory","display_name":"Ergodic theory","score":0.5978999733924866},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5903000235557556},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5577999949455261},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5026000142097473}],"concepts":[{"id":"https://openalex.org/C2779968344","wikidata":"https://www.wikidata.org/wiki/Q3932925","display_name":"Rendezvous","level":3,"score":0.9473999738693237},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6675999760627747},{"id":"https://openalex.org/C126831891","wikidata":"https://www.wikidata.org/wiki/Q221673","display_name":"Host (biology)","level":2,"score":0.6617000102996826},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6154999732971191},{"id":"https://openalex.org/C122044880","wikidata":"https://www.wikidata.org/wiki/Q5498822","display_name":"Ergodic theory","level":2,"score":0.5978999733924866},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5903000235557556},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5577999949455261},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5026000142097473},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46630001068115234},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.3939000070095062},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37130001187324524},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34860000014305115},{"id":"https://openalex.org/C174440990","wikidata":"https://www.wikidata.org/wiki/Q681349","display_name":"Point-to-point","level":2,"score":0.3228999972343445},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3086000084877014},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2727000117301941},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2606000006198883},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2574000060558319},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2515999972820282}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc57313.2025.11313015","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc57313.2025.11313015","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 64th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0,102],"paper":[1],"presents":[2],"a":[3,8,20,25,33,72,77,82,104,112,173,182,198],"persistent":[4],"control":[5,191],"methodology":[6],"for":[7,36,172],"sustainably":[9],"powered":[10,27],"host/agent":[11],"network":[12],"that":[13,100],"executes":[14],"tip-and-cue":[15],"oceanographic":[16],"observing":[17],"operations":[18],"within":[19],"spatiotemporally":[21],"evolving":[22,49],"environment.":[23],"Specifically,":[24],"renewably":[26],"host":[28,59,89,125,175],"vessel":[29,176],"simultaneously":[30],"serves":[31],"as":[32],"recharging":[34],"platform":[35],"an":[37,48,202],"autonomous":[38],"aerial":[39],"vehicle":[40],"(AAV),":[41],"while":[42],"also":[43],"performing":[44],"broad":[45],"surveillance":[46],"of":[47,79,99,161,164],"mission":[50,62,216],"domain.":[51],"When":[52,76],"the":[53,58,61,65,88,91,108,119,124,129,139,147,159,162,165,189,206,214],"AAV":[54,92],"is":[55,68,85,93,115,150,193,209],"on":[56,71,152,213],"board":[57],"vessel,":[60,90],"trajectory":[63,167],"(termed":[64,81],"\"nominal\"":[66],"trajectory)":[67,110,149],"selected":[69,116],"based":[70],"clarity-driven":[73],"ergodic":[74,141,166,203],"planner.":[75],"location":[78],"interest":[80],"\"tip\"":[83],"location)":[84],"detected":[86],"by":[87],"dispatched":[94],"to":[95,117,123,195,211],"provide":[96],"detailed":[97],"observation":[98],"location.":[101],"necessitates":[103],"replanning":[105,144],"operation":[106,145],"(of":[107,146],"\"rendezvous\"":[109],"wherein":[111,205],"rendezvous":[113,132,170,207],"point":[114,133,208],"maximize":[118],"mutual":[120],"long-horizon":[121],"benefit":[122],"and":[126,169,181,201],"agent.":[127],"Because":[128],"mutually":[130],"beneficial":[131],"will,":[134],"in":[135],"general,":[136],"deviate":[137],"from":[138],"original":[140],"trajectory,":[142],"another":[143],"nominal":[148,215],"completed":[151],"rendezvous.":[153],"In":[154,187],"this":[155],"paper,":[156],"we":[157],"demonstrate":[158],"efficacy":[160],"combination":[163],"planner":[168,171],"solar-powered":[174],"(the":[177],"SeaTrac":[178],"SP-48":[179],"ASV)":[180],"quadrotor":[183],"(Agilicious)":[184],"agent":[185],"vehicle.":[186],"particular,":[188],"combined":[190],"system":[192],"shown":[194],"significantly":[196],"outperform":[197],"line-transect":[199],"strategy":[200],"controller":[204],"constrained":[210],"lie":[212],"trajectory.":[217]},"counts_by_year":[],"updated_date":"2026-01-14T00:46:21.520733","created_date":"2026-01-14T00:00:00"}
