{"id":"https://openalex.org/W4401880570","doi":"https://doi.org/10.1109/icps59941.2024.10640036","title":"Cooperative Path Following Control of Unmanned Surface Vehicles Using Model Predictive Control","display_name":"Cooperative Path Following Control of Unmanned Surface Vehicles Using Model Predictive Control","publication_year":2024,"publication_date":"2024-05-12","ids":{"openalex":"https://openalex.org/W4401880570","doi":"https://doi.org/10.1109/icps59941.2024.10640036"},"language":"en","primary_location":{"id":"doi:10.1109/icps59941.2024.10640036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icps59941.2024.10640036","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 7th International Conference on Industrial Cyber-Physical Systems (ICPS)","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/A5113349035","display_name":"Syed Hamza Ahmed","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Syed Hamza Ahmed","raw_affiliation_strings":["Northwestern Polytechnical University,School of Marine Science and Technology,Xi’an,China"],"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University,School of Marine Science and Technology,Xi’an,China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093968942","display_name":"Minzhong Zhao","orcid":"https://orcid.org/0009-0002-9565-5693"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minzhong Zhao","raw_affiliation_strings":["Northwestern Polytechnical University,School of Marine Science and Technology,Xi’an,China"],"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University,School of Marine Science and Technology,Xi’an,China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100605691","display_name":"Huiping Li","orcid":"https://orcid.org/0000-0003-4620-8993"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huiping Li","raw_affiliation_strings":["Northwestern Polytechnical University,School of Marine Science and Technology,Xi’an,China"],"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University,School of Marine Science and Technology,Xi’an,China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5113349035"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":0.6927,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.70253684,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9984999895095825,"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":0.9984999895095825,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9970999956130981,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9965000152587891,"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/model-predictive-control","display_name":"Model predictive control","score":0.7576262950897217},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.5856742262840271},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5735648274421692},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4953664541244507},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48271581530570984},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.42847979068756104},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3460516631603241},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.324607253074646},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27317091822624207},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2604759931564331},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1961919665336609},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.13500350713729858},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11688628792762756},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09743842482566833}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7576262950897217},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.5856742262840271},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5735648274421692},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4953664541244507},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48271581530570984},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.42847979068756104},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3460516631603241},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.324607253074646},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27317091822624207},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2604759931564331},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1961919665336609},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.13500350713729858},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11688628792762756},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09743842482566833}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icps59941.2024.10640036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icps59941.2024.10640036","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 7th International Conference on Industrial Cyber-Physical Systems (ICPS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1974164103","https://openalex.org/W1974416441","https://openalex.org/W1995286048","https://openalex.org/W2160643434","https://openalex.org/W2164233554","https://openalex.org/W2165188227","https://openalex.org/W2345644119","https://openalex.org/W2484617215","https://openalex.org/W2492811885","https://openalex.org/W2547243234","https://openalex.org/W2765748295","https://openalex.org/W2802228104","https://openalex.org/W2811038404","https://openalex.org/W2842089854","https://openalex.org/W2905456320","https://openalex.org/W2925144242","https://openalex.org/W2968733535","https://openalex.org/W3004235063","https://openalex.org/W3008282431","https://openalex.org/W3126889909","https://openalex.org/W3195881720","https://openalex.org/W4304761981","https://openalex.org/W6766620872"],"related_works":["https://openalex.org/W2071768959","https://openalex.org/W4319442894","https://openalex.org/W2921408402","https://openalex.org/W4312767556","https://openalex.org/W2982615283","https://openalex.org/W2290286193","https://openalex.org/W4312370102","https://openalex.org/W2076947815","https://openalex.org/W2740881605","https://openalex.org/W4319459684"],"abstract_inverted_index":{"This":[0,46],"paper":[1],"addresses":[2],"the":[3,59,76,109,121,144,147],"challenges":[4],"in":[5,15,23],"Cooperative":[6],"Path":[7],"Following":[8],"(CPF)":[9],"for":[10,49],"Unmanned":[11],"Surface":[12],"Vehicles":[13],"(USVs)":[14],"formation":[16,63],"control,":[17],"a":[18,32,41,93,104,115],"subject":[19],"with":[20,40,70,87],"significant":[21],"applications":[22],"ocean":[24],"monitoring":[25],"and":[26,57,68,90,139,153],"marine":[27],"habitat":[28],"mapping.":[29],"We":[30],"propose":[31],"novel":[33,116],"approach":[34,128],"integrating":[35],"Model":[36],"Predictive":[37],"Control":[38],"(MPC)":[39],"vehicle\u2019s":[42],"speed":[43],"coordination":[44,91,110],"mechanism.":[45],"method":[47],"allows":[48],"effective":[50],"management":[51],"of":[52,61,84,92,124,151],"constraints":[53],"on":[54],"vehicle":[55,62,86],"inputs":[56,89],"facilitates":[58],"maintenance":[60],"while":[64,108],"also":[65],"avoiding":[66],"obstacles":[67,154],"collision":[69],"each":[71,85],"other.":[72],"Our":[73],"strategy":[74],"decomposes":[75],"CPF":[77],"problem":[78,100],"into":[79],"two":[80],"sub-problems:":[81],"path":[82,98,122],"following":[83,99],"constrained":[88],"multi-agent":[94],"system":[95],"(MAS).":[96],"The":[97,127],"is":[101,112],"managed":[102],"using":[103,120],"non-linear":[105],"MPC-based":[106],"scheme,":[107],"challenge":[111],"addressed":[113],"through":[114],"distributed":[117],"control":[118],"law":[119],"parameters":[123],"neighboring":[125],"USVs.":[126],"has":[129],"been":[130],"rigorously":[131],"tested":[132],"across":[133],"various":[134],"scenarios,":[135],"demonstrating":[136],"its":[137],"robustness":[138],"ability":[140],"to":[141],"consistently":[142],"guide":[143],"MAS":[145],"towards":[146],"desired":[148],"formation,":[149],"regardless":[150],"trajectories":[152],"encountered.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-06T13:50:29.536080","created_date":"2025-10-10T00:00:00"}