{"id":"https://openalex.org/W2979901774","doi":"https://doi.org/10.1109/ecmr.2019.8870910","title":"Ship Hull Repair Using a Swarm of Autonomous Underwater Robots: A Self-Assembly Algorithm","display_name":"Ship Hull Repair Using a Swarm of Autonomous Underwater Robots: A Self-Assembly Algorithm","publication_year":2019,"publication_date":"2019-09-01","ids":{"openalex":"https://openalex.org/W2979901774","doi":"https://doi.org/10.1109/ecmr.2019.8870910","mag":"2979901774"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2019.8870910","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2019.8870910","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 European Conference on Mobile Robots (ECMR)","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/A5018392619","display_name":"Matthew Haire","orcid":null},"institutions":[{"id":"https://openalex.org/I71422933","display_name":"Sheffield Hallam University","ror":"https://ror.org/019wt1929","country_code":"GB","type":"education","lineage":["https://openalex.org/I71422933"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Matthew Haire","raw_affiliation_strings":["Centre for Automation and Robotics Research (CARR), Engineering Research Institute (MERI) at Sheffield Hallam University, England, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics Research (CARR), Engineering Research Institute (MERI) at Sheffield Hallam University, England, United Kingdom","institution_ids":["https://openalex.org/I71422933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100340400","display_name":"Xu Xu","orcid":"https://orcid.org/0000-0001-8790-3103"},"institutions":[{"id":"https://openalex.org/I71422933","display_name":"Sheffield Hallam University","ror":"https://ror.org/019wt1929","country_code":"GB","type":"education","lineage":["https://openalex.org/I71422933"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xu Xu","raw_affiliation_strings":["Centre for Automation and Robotics Research (CARR), Engineering Research Institute (MERI) at Sheffield Hallam University, England, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics Research (CARR), Engineering Research Institute (MERI) at Sheffield Hallam University, England, United Kingdom","institution_ids":["https://openalex.org/I71422933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069131707","display_name":"Lyuba Alboul","orcid":"https://orcid.org/0000-0001-9605-7228"},"institutions":[{"id":"https://openalex.org/I71422933","display_name":"Sheffield Hallam University","ror":"https://ror.org/019wt1929","country_code":"GB","type":"education","lineage":["https://openalex.org/I71422933"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Lyuba Alboul","raw_affiliation_strings":["Centre for Automation and Robotics Research (CARR), Engineering Research Institute (MERI) at Sheffield Hallam University, England, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics Research (CARR), Engineering Research Institute (MERI) at Sheffield Hallam University, England, United Kingdom","institution_ids":["https://openalex.org/I71422933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111640357","display_name":"Jacques Penders","orcid":null},"institutions":[{"id":"https://openalex.org/I71422933","display_name":"Sheffield Hallam University","ror":"https://ror.org/019wt1929","country_code":"GB","type":"education","lineage":["https://openalex.org/I71422933"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jacques Penders","raw_affiliation_strings":["Centre for Automation and Robotics Research (CARR), Engineering Research Institute (MERI) at Sheffield Hallam University, England, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics Research (CARR), Engineering Research Institute (MERI) at Sheffield Hallam University, England, United Kingdom","institution_ids":["https://openalex.org/I71422933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100397258","display_name":"Hongwei Zhang","orcid":"https://orcid.org/0000-0002-7718-021X"},"institutions":[{"id":"https://openalex.org/I71422933","display_name":"Sheffield Hallam University","ror":"https://ror.org/019wt1929","country_code":"GB","type":"education","lineage":["https://openalex.org/I71422933"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hongwei Zhang","raw_affiliation_strings":["Centre for Automation and Robotics Research (CARR), Engineering Research Institute (MERI) at Sheffield Hallam University, England, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics Research (CARR), Engineering Research Institute (MERI) at Sheffield Hallam University, England, United Kingdom","institution_ids":["https://openalex.org/I71422933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5018392619"],"corresponding_institution_ids":["https://openalex.org/I71422933"],"apc_list":null,"apc_paid":null,"fwci":0.7381,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.69783714,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"345","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9922000169754028,"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/T12288","display_name":"Optimization and Search Problems","score":0.9889000058174133,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6825131773948669},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6543505191802979},{"id":"https://openalex.org/keywords/hull","display_name":"Hull","score":0.6000508069992065},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5600903034210205},{"id":"https://openalex.org/keywords/netlogo","display_name":"NetLogo","score":0.5192451477050781},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4928629398345947},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.4623047411441803},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.4427706301212311},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36628398299217224},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.35201185941696167},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3437381386756897},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3213551640510559},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2910284996032715},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.242407888174057},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09341171383857727}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6825131773948669},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6543505191802979},{"id":"https://openalex.org/C37423430","wikidata":"https://www.wikidata.org/wiki/Q6750281","display_name":"Hull","level":2,"score":0.6000508069992065},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5600903034210205},{"id":"https://openalex.org/C167221231","wikidata":"https://www.wikidata.org/wiki/Q672307","display_name":"NetLogo","level":2,"score":0.5192451477050781},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4928629398345947},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.4623047411441803},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.4427706301212311},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36628398299217224},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.35201185941696167},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3437381386756897},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3213551640510559},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2910284996032715},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.242407888174057},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09341171383857727},{"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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ecmr.2019.8870910","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2019.8870910","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},{"id":"pmh:oai:shura.shu.ac.uk:25169","is_oa":false,"landing_page_url":"http://orcid.org/0000-0002-9721-9054>,","pdf_url":null,"source":{"id":"https://openalex.org/S4306401600","display_name":"SHURA (Sheffield Hallam University Research Archive) (Sheffield Hallam University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I71422933","host_organization_name":"Sheffield Hallam University","host_organization_lineage":["https://openalex.org/I71422933"],"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":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320311720","display_name":"Sheffield Hallam University","ror":"https://ror.org/019wt1929"},{"id":"https://openalex.org/F4320320342","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W631244818","https://openalex.org/W1978758836","https://openalex.org/W2007079513","https://openalex.org/W2007345777","https://openalex.org/W2013410712","https://openalex.org/W2030384159","https://openalex.org/W2030775133","https://openalex.org/W2052283044","https://openalex.org/W2079218888","https://openalex.org/W2102570161","https://openalex.org/W2118331730","https://openalex.org/W2124145877","https://openalex.org/W2144912057","https://openalex.org/W2151648288","https://openalex.org/W2171680181","https://openalex.org/W2333945912","https://openalex.org/W2411763598","https://openalex.org/W2412515215","https://openalex.org/W2441997659","https://openalex.org/W2886210152","https://openalex.org/W2899318310","https://openalex.org/W2977000426","https://openalex.org/W4249131559"],"related_works":["https://openalex.org/W4224013512","https://openalex.org/W3023917853","https://openalex.org/W2040907244","https://openalex.org/W27898408","https://openalex.org/W2557308315","https://openalex.org/W2953205341","https://openalex.org/W4253502255","https://openalex.org/W4252443692","https://openalex.org/W235065745","https://openalex.org/W2794780033"],"abstract_inverted_index":{"When":[0],"ships":[1],"suffer":[2],"hull":[3,55,175],"damage":[4],"at":[5,53],"sea,":[6],"quick":[7],"and":[8,57,81,112,114,132,149,154,178],"effective":[9,26],"repairs":[10],"are":[11,84],"vital.":[12],"In":[13,32],"these":[14],"scenarios":[15],"where":[16],"even":[17],"minutes":[18],"make":[19],"a":[20,37,44,63,106,197],"substantial":[21],"difference,":[22],"repair":[23,176],"crews":[24],"need":[25],"solutions":[27],"suited":[28],"to":[29,40,51,61,68,86,104,143,171,196,200],"modern":[30],"challenges.":[31],"this":[33,95,165],"paper,":[34],"we":[35],"propose":[36],"self-assembly":[38],"algorithm":[39],"be":[41,139,194],"used":[42,85],"by":[43,76,188],"homogeneous":[45],"swarm":[46,160],"of":[47,65,90,101,118,146],"autonomous":[48],"underwater":[49],"robots":[50],"aggregate":[52],"the":[54,70,88,91,99,102,116,127,135,144,147,150,159,172,182,191,205],"breach":[56,110,148],"use":[58],"their":[59],"bodies":[60],"form":[62,105],"patch":[64,107],"appropriate":[66],"size":[67],"cover":[69],"hole.":[71],"Our":[72],"approach":[73,162,192],"is":[74,124],"inspired":[75],"existing":[77],"modular":[78],"robot":[79,161],"technologies":[80],"techniques,":[82],"which":[83],"justify":[87],"feasibility":[89],"proposed":[92],"system":[93,123,136],"in":[94,141,164,204],"paper.":[96],"We":[97,186],"test":[98],"ability":[100],"agents":[103],"for":[108],"various":[109],"sizes":[111,145],"locations":[113],"investigate":[115],"effect":[117],"varying":[119],"population":[120],"density.":[121],"The":[122,152],"verified":[125],"within":[126],"two-dimensional":[128],"Netlogo":[129],"simulation":[130,155],"environment":[131],"shows":[133],"how":[134,190],"performance":[137],"can":[138],"quantified":[140],"relation":[142],"swarm.":[151],"methodology":[153],"results":[156],"illustrate":[157],"that":[158],"presented":[163],"paper":[166],"forms":[167],"an":[168],"important":[169],"contribution":[170],"emergency":[173],"ship":[174],"scenario":[177],"compares":[179],"advantageously":[180],"against":[181],"traditional":[183],"shoring":[184],"methods.":[185],"conclude":[187],"suggesting":[189],"may":[193],"extended":[195],"three-dimensional":[198],"domain":[199],"aid":[201],"real-time":[202],"implementation":[203],"future.":[206]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
