{"id":"https://openalex.org/W1979876836","doi":"https://doi.org/10.1109/icra.2012.6225115","title":"An experimental momentum-based front detection method for autonomous underwater vehicles","display_name":"An experimental momentum-based front detection method for autonomous underwater vehicles","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W1979876836","doi":"https://doi.org/10.1109/icra.2012.6225115","mag":"1979876836"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225115","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225115","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5037728655","display_name":"Jeremy Gottlieb","orcid":null},"institutions":[{"id":"https://openalex.org/I185103710","display_name":"University of California, Santa Cruz","ror":"https://ror.org/03s65by71","country_code":"US","type":"education","lineage":["https://openalex.org/I185103710"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jeremy Gottlieb","raw_affiliation_strings":["Baskin School of Engineering, University of California, Santa Cruz, Santa Cruz, CA, USA","Baskin School of Engineering, UC Santa Cruz, 1156 High St., CA 95064 USA"],"affiliations":[{"raw_affiliation_string":"Baskin School of Engineering, University of California, Santa Cruz, Santa Cruz, CA, USA","institution_ids":["https://openalex.org/I185103710"]},{"raw_affiliation_string":"Baskin School of Engineering, UC Santa Cruz, 1156 High St., CA 95064 USA","institution_ids":["https://openalex.org/I185103710"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111877506","display_name":"Rishi Graham","orcid":null},"institutions":[{"id":"https://openalex.org/I1319261023","display_name":"Monterey Bay Aquarium Research Institute","ror":"https://ror.org/02nb3aq72","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1319261023"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rishi Graham","raw_affiliation_strings":["MBARI, Moss Landing, CA, USA","MBARI, 7700 Sandholdt Rd., Moss Landing, CA 95039 USA"],"affiliations":[{"raw_affiliation_string":"MBARI, Moss Landing, CA, USA","institution_ids":["https://openalex.org/I1319261023"]},{"raw_affiliation_string":"MBARI, 7700 Sandholdt Rd., Moss Landing, CA 95039 USA","institution_ids":["https://openalex.org/I1319261023"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113685752","display_name":"Thom Maughan","orcid":null},"institutions":[{"id":"https://openalex.org/I1319261023","display_name":"Monterey Bay Aquarium Research Institute","ror":"https://ror.org/02nb3aq72","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1319261023"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thom Maughan","raw_affiliation_strings":["MBARI, Moss Landing, CA, USA","MBARI, 7700 Sandholdt Rd., Moss Landing, CA 95039 USA"],"affiliations":[{"raw_affiliation_string":"MBARI, Moss Landing, CA, USA","institution_ids":["https://openalex.org/I1319261023"]},{"raw_affiliation_string":"MBARI, 7700 Sandholdt Rd., Moss Landing, CA 95039 USA","institution_ids":["https://openalex.org/I1319261023"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031499390","display_name":"Fr\u00e9d\u00e9ric Py","orcid":null},"institutions":[{"id":"https://openalex.org/I1319261023","display_name":"Monterey Bay Aquarium Research Institute","ror":"https://ror.org/02nb3aq72","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1319261023"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Frederic Py","raw_affiliation_strings":["MBARI, Moss Landing, CA, USA","MBARI, 7700 Sandholdt Rd., Moss Landing, CA 95039 USA"],"affiliations":[{"raw_affiliation_string":"MBARI, Moss Landing, CA, USA","institution_ids":["https://openalex.org/I1319261023"]},{"raw_affiliation_string":"MBARI, 7700 Sandholdt Rd., Moss Landing, CA 95039 USA","institution_ids":["https://openalex.org/I1319261023"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108547328","display_name":"Gabriel Elkaim","orcid":null},"institutions":[{"id":"https://openalex.org/I185103710","display_name":"University of California, Santa Cruz","ror":"https://ror.org/03s65by71","country_code":"US","type":"education","lineage":["https://openalex.org/I185103710"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gabriel Elkaim","raw_affiliation_strings":["Baskin School of Engineering, University of California, Santa Cruz, Santa Cruz, CA, USA","Baskin School of Engineering, UC Santa Cruz, 1156 High St., CA 95064 USA"],"affiliations":[{"raw_affiliation_string":"Baskin School of Engineering, University of California, Santa Cruz, Santa Cruz, CA, USA","institution_ids":["https://openalex.org/I185103710"]},{"raw_affiliation_string":"Baskin School of Engineering, UC Santa Cruz, 1156 High St., CA 95064 USA","institution_ids":["https://openalex.org/I185103710"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085025317","display_name":"Kanna Rajan","orcid":"https://orcid.org/0000-0001-7146-1662"},"institutions":[{"id":"https://openalex.org/I1319261023","display_name":"Monterey Bay Aquarium Research Institute","ror":"https://ror.org/02nb3aq72","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1319261023"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kanna Rajan","raw_affiliation_strings":["MBARI, Moss Landing, CA, USA","MBARI, 7700 Sandholdt Rd., Moss Landing, CA 95039 USA"],"affiliations":[{"raw_affiliation_string":"MBARI, Moss Landing, CA, USA","institution_ids":["https://openalex.org/I1319261023"]},{"raw_affiliation_string":"MBARI, 7700 Sandholdt Rd., Moss Landing, CA 95039 USA","institution_ids":["https://openalex.org/I1319261023"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5037728655"],"corresponding_institution_ids":["https://openalex.org/I185103710"],"apc_list":null,"apc_paid":null,"fwci":1.7994,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.83908455,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"3","issue":null,"first_page":"5322","last_page":"5327"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10032","display_name":"Marine and coastal ecosystems","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10032","display_name":"Marine and coastal ecosystems","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10255","display_name":"Oceanographic and Atmospheric Processes","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"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":0.9926000237464905,"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/underwater","display_name":"Underwater","score":0.7511434555053711},{"id":"https://openalex.org/keywords/front","display_name":"Front (military)","score":0.6708357334136963},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5586825609207153},{"id":"https://openalex.org/keywords/momentum","display_name":"Momentum (technical analysis)","score":0.4236762225627899},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.35224485397338867},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3231464624404907},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2690867781639099},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23609477281570435},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2284936010837555},{"id":"https://openalex.org/keywords/meteorology","display_name":"Meteorology","score":0.10954254865646362},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.0634273886680603}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7511434555053711},{"id":"https://openalex.org/C2777551076","wikidata":"https://www.wikidata.org/wiki/Q842332","display_name":"Front (military)","level":2,"score":0.6708357334136963},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5586825609207153},{"id":"https://openalex.org/C60718061","wikidata":"https://www.wikidata.org/wiki/Q1414747","display_name":"Momentum (technical analysis)","level":2,"score":0.4236762225627899},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.35224485397338867},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3231464624404907},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2690867781639099},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23609477281570435},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2284936010837555},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.10954254865646362},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0634273886680603},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/icra.2012.6225115","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225115","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.294.5726","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.294.5726","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://users.soe.ucsc.edu/~elkaim/Documents/icra2012_Gottlieb.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8500000238418579,"display_name":"Life below water"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306079","display_name":"David and Lucile Packard Foundation","ror":"https://ror.org/032atxq54"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W579934433","https://openalex.org/W1574502033","https://openalex.org/W1582569540","https://openalex.org/W1909116965","https://openalex.org/W1969061848","https://openalex.org/W1980534553","https://openalex.org/W2017456134","https://openalex.org/W2057884844","https://openalex.org/W2081207647","https://openalex.org/W2083044260","https://openalex.org/W2091631648","https://openalex.org/W2107270906","https://openalex.org/W2115478506","https://openalex.org/W2127176862","https://openalex.org/W2995832855","https://openalex.org/W6634235963","https://openalex.org/W6635010733","https://openalex.org/W6677394556","https://openalex.org/W6772069040"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W2591930867","https://openalex.org/W1999583034","https://openalex.org/W2891537746","https://openalex.org/W3168963531","https://openalex.org/W2773822314","https://openalex.org/W2953138830","https://openalex.org/W3176162126","https://openalex.org/W3217214504","https://openalex.org/W3201231642"],"abstract_inverted_index":{"Fronts":[0],"have":[1,51],"been":[2],"recognized":[3],"as":[4],"hotspots":[5],"of":[6,65,125],"intense":[7],"biological":[8],"activity":[9],"and":[10,20,29,33,55,72,86,103,138,168],"are":[11],"important":[12,81,156],"targets":[13],"for":[14,36,41,69,75,83,163],"observation":[15,71],"to":[16,61,108,120],"understand":[17],"coastal":[18,179],"ecology":[19],"transport":[21],"in":[22,57,158,172,177],"a":[23,63,91,100,104,123,133,141,148,151],"changing":[24],"ocean.":[25,180],"With":[26],"high":[27],"spatial":[28],"temporal":[30],"variability,":[31],"detection":[32,95],"event":[34],"response":[35],"frontal":[37,76],"zones":[38,77],"is":[39,118],"challenging":[40],"robotic":[42],"platforms":[43],"like":[44],"autonomous":[45],"underwater":[46],"vehicles":[47,50],"(AUVs).":[48],"These":[49],"shown":[52],"their":[53],"versatility":[54],"cost-effectiveness":[56],"using":[58],"automated":[59],"approaches":[60],"detect":[62],"range":[64],"features.":[66],"Targeting":[67],"them":[68],"in-situ":[70],"sampling":[73,167],"capabilities":[74],"then":[78],"provides":[79],"an":[80,129,155],"tool":[82],"characterizing":[84],"rapid":[85],"episodic":[87],"changes.":[88],"We":[89],"introduce":[90],"novel":[92],"momentum-based":[93],"front":[94],"(MBFD)":[96],"algorithm":[97],"which":[98],"utilizes":[99],"Kalman":[101],"filter":[102],"momentum":[105],"accumulator":[106],"function":[107],"identify":[109],"significant":[110],"temperature":[111],"gradients":[112],"associated":[113],"with":[114,132],"upwelling":[115],"fronts.":[116],"MBFD":[117],"designed":[119],"work":[121],"at":[122],"number":[124],"levels":[126],"including":[127],"onboard":[128],"AUV,":[130],"on-shore":[131],"sparse":[134],"real-time":[135],"data":[136,144],"stream":[137],"post-experiment":[139],"on":[140],"full":[142],"resolution":[143],"set":[145],"gathered":[146],"by":[147],"vehicle.":[149],"Such":[150],"multi-layered":[152],"approach":[153],"plays":[154],"role":[157],"mixed":[159],"human-robot":[160],"decision":[161],"making":[162,165],"oceanographers":[164],"coordinated":[166],"asset":[169],"allocation":[170],"strategies":[171],"large":[173],"multi-robot":[174],"field":[175],"experiments":[176],"the":[178]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}