{"id":"https://openalex.org/W2100428509","doi":"https://doi.org/10.1109/icra.2011.5980388","title":"Autonomous river navigation using the Hamilton-Jacobi framework for underactuated vehicles","display_name":"Autonomous river navigation using the Hamilton-Jacobi framework for underactuated vehicles","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2100428509","doi":"https://doi.org/10.1109/icra.2011.5980388","mag":"2100428509"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980388","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5032442701","display_name":"Kevin Weekly","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kevin Weekly","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of California, Berkeley, USA","[Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"[Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA]","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045820599","display_name":"Leah Anderson","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Leah Anderson","raw_affiliation_strings":["Department of Civil and Environmental Engineering, University of California, Berkeley, USA","Department of Civil and Environmental Engineering University of California  Berkeley USA"],"affiliations":[{"raw_affiliation_string":"Department of Civil and Environmental Engineering, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Civil and Environmental Engineering University of California  Berkeley USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057894023","display_name":"Andrew Tinka","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Tinka","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","[Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"[Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA]","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021116704","display_name":"Alexandre M. Bayen","orcid":"https://orcid.org/0000-0002-6697-222X"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexandre M. Bayen","raw_affiliation_strings":["Department of Civil and Environmental Engineering, University of California, Berkeley, USA","Department of Civil and Environmental Engineering University of California  Berkeley USA"],"affiliations":[{"raw_affiliation_string":"Department of Civil and Environmental Engineering, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Civil and Environmental Engineering University of California  Berkeley USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5032442701"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":1.9578,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.87235781,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"35","issue":null,"first_page":"828","last_page":"833"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.992900013923645,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.992900013923645,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9908999800682068,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9708999991416931,"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/underactuation","display_name":"Underactuation","score":0.7482213377952576},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6077577471733093},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6061829328536987},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.5329443216323853},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5104748010635376},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.429563045501709},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.381075382232666},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3500118851661682},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24438273906707764},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22407671809196472},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20433184504508972},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.10031381249427795},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09497693181037903}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7482213377952576},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6077577471733093},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6061829328536987},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.5329443216323853},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5104748010635376},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.429563045501709},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.381075382232666},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3500118851661682},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24438273906707764},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22407671809196472},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20433184504508972},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.10031381249427795},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09497693181037903},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5980388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980388","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.7200000286102295}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W168874853","https://openalex.org/W1238092070","https://openalex.org/W1424654272","https://openalex.org/W1487586009","https://openalex.org/W1550828720","https://openalex.org/W1581842928","https://openalex.org/W1587663028","https://openalex.org/W1879112630","https://openalex.org/W1977211730","https://openalex.org/W1999497797","https://openalex.org/W2001331101","https://openalex.org/W2006969491","https://openalex.org/W2093834886","https://openalex.org/W2106569214","https://openalex.org/W2109385135","https://openalex.org/W2116364955","https://openalex.org/W2165489953","https://openalex.org/W2341171179","https://openalex.org/W2502993736","https://openalex.org/W2611243847","https://openalex.org/W4213300137","https://openalex.org/W4297744580","https://openalex.org/W6724178028"],"related_works":["https://openalex.org/W4313405128","https://openalex.org/W2735800644","https://openalex.org/W2351856355","https://openalex.org/W2026100838","https://openalex.org/W2033235512","https://openalex.org/W2005844804","https://openalex.org/W2108077136","https://openalex.org/W2562543497","https://openalex.org/W3209933339","https://openalex.org/W2367781025"],"abstract_inverted_index":{"Motorized":[0],"floating":[1],"sensors":[2],"have":[3],"distinct":[4],"advantages":[5],"over":[6],"their":[7],"non-actuated":[8],"counterparts.":[9],"A":[10],"motorized":[11],"unit":[12],"can":[13,32],"prevent":[14],"the":[15,26,47,64,68,71,76,80,102,119,126,129,133,136,156,166],"sensor":[16],"from":[17,87,150],"washing":[18],"ashore":[19],"or":[20],"heading":[21],"into":[22],"dangerous":[23],"areas,":[24],"expanding":[25],"mission":[27],"regions":[28],"in":[29,155],"which":[30],"they":[31],"be":[33],"feasibly":[34],"operated.":[35],"In":[36],"this":[37],"article,":[38],"we":[39],"present":[40],"a":[41,139,151],"control":[42],"frame":[43],"work":[44],"and":[45,73],"describe":[46],"physically":[48],"realized":[49],"system":[50],"used":[51,99,116],"to":[52,66,78,89,100,117,122,125,164],"prove":[53],"its":[54],"effectiveness.":[55],"The":[56,82,110],"controller":[57,137],"uses":[58],"two":[59],"minimum-time-to-reach":[60],"(MTTR)":[61],"functions-one":[62],"giving":[63,75],"time":[65,77],"reach":[67,79],"center":[69,127],"of":[70,128,135],"river":[72],"one":[74],"shoreline.":[81],"MTTR":[83,112],"functions":[84,97],"are":[85,98,161],"constructed":[86],"solutions":[88],"Hamilton":[90],"Jacobi-Bellman-Isaacs":[91],"(HJBI)":[92],"Equations.":[93],"Contours":[94],"along":[95],"these":[96],"define":[101],"state":[103],"transition":[104],"thresholds":[105],"for":[106],"an":[107],"on-off":[108],"controller.":[109],"first":[111],"function":[113],"is":[114],"also":[115],"construct":[118],"optimal":[120],"bearing":[121],"travel":[123],"back":[124],"river.":[130],"We":[131],"investigate":[132],"effectiveness":[134],"using":[138],"software-in-the-loop":[140],"(SIL)":[141],"simulator.":[142],"Using":[143],"prototypes":[144],"built":[145],"at":[146],"UC":[147],"Berkeley,":[148],"results":[149],"field":[152],"operational":[153],"test":[154],"Sacramento-San":[157],"Joaquin":[158],"River":[159],"Delta":[160],"then":[162],"presented":[163],"validate":[165],"simulation":[167],"results.":[168]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
