{"id":"https://openalex.org/W2967737732","doi":"https://doi.org/10.1109/icra.2019.8794300","title":"A Unified Closed-Loop Motion Planning Approach For An I-AUV In Cluttered Environment With Localization Uncertainty","display_name":"A Unified Closed-Loop Motion Planning Approach For An I-AUV In Cluttered Environment With Localization Uncertainty","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2967737732","doi":"https://doi.org/10.1109/icra.2019.8794300","mag":"2967737732"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794300","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794300","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","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/A5100607514","display_name":"Huan Yu","orcid":"https://orcid.org/0000-0001-9434-3693"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Huan Yu","raw_affiliation_strings":["Autonomous Systems, University of Technology Sydney, Australia"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems, University of Technology Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057254939","display_name":"Wenjie Lu","orcid":"https://orcid.org/0000-0003-1677-3633"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Wenjie Lu","raw_affiliation_strings":["Autonomous Systems, University of Technology Sydney, Australia"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems, University of Technology Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035571131","display_name":"Dikai Liu","orcid":"https://orcid.org/0000-0002-1581-5582"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Dikai Liu","raw_affiliation_strings":["Autonomous Systems, University of Technology Sydney, Australia"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems, University of Technology Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100607514"],"corresponding_institution_ids":["https://openalex.org/I114017466"],"apc_list":null,"apc_paid":null,"fwci":0.6133,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.72539375,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4646","last_page":"4652"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9987999796867371,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9958999752998352,"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/control-theory","display_name":"Control theory (sociology)","score":0.7312623262405396},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5846098065376282},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5653533339500427},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5020921230316162},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.5001628398895264},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4767909049987793},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4756027162075043},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46023938059806824},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.41433802247047424},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4111277163028717},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3869946599006653},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3827243745326996},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33717453479766846},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19681686162948608},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1346522867679596},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1298397183418274},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08158805966377258}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7312623262405396},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5846098065376282},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5653533339500427},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5020921230316162},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.5001628398895264},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4767909049987793},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4756027162075043},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46023938059806824},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.41433802247047424},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4111277163028717},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3869946599006653},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3827243745326996},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33717453479766846},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19681686162948608},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1346522867679596},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1298397183418274},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08158805966377258},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2019.8794300","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794300","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/136041","is_oa":false,"landing_page_url":"http://hdl.handle.net/10453/136041","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.5699999928474426}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1176413013","https://openalex.org/W1518169716","https://openalex.org/W1529817735","https://openalex.org/W1970745880","https://openalex.org/W1976915699","https://openalex.org/W2002201291","https://openalex.org/W2019965290","https://openalex.org/W2055921164","https://openalex.org/W2073199141","https://openalex.org/W2091244149","https://openalex.org/W2099893201","https://openalex.org/W2112724282","https://openalex.org/W2141664020","https://openalex.org/W2164429173","https://openalex.org/W2168992242","https://openalex.org/W2314525300","https://openalex.org/W2336416123","https://openalex.org/W2412669390","https://openalex.org/W2415858806","https://openalex.org/W2425538065","https://openalex.org/W2482392012","https://openalex.org/W2515876283","https://openalex.org/W2564322318","https://openalex.org/W2736899567","https://openalex.org/W2761373498","https://openalex.org/W2771588210","https://openalex.org/W2791820620","https://openalex.org/W2792213791","https://openalex.org/W2806980377","https://openalex.org/W2891491652","https://openalex.org/W3106333735","https://openalex.org/W3150252750","https://openalex.org/W4236708315","https://openalex.org/W4255045719","https://openalex.org/W6644500731","https://openalex.org/W6697179419","https://openalex.org/W6718062145"],"related_works":["https://openalex.org/W2505728881","https://openalex.org/W3036464408","https://openalex.org/W2020990755","https://openalex.org/W2377851227","https://openalex.org/W4293088966","https://openalex.org/W2366868484","https://openalex.org/W2917463375","https://openalex.org/W2155219672","https://openalex.org/W2322281151","https://openalex.org/W2011094784"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,16,31,37,43,64,111,121],"unified":[4],"motion":[5],"planning":[6],"approach":[7],"for":[8,42],"an":[9,28,118],"Intervention":[10],"Autonomous":[11],"Underwater":[12],"Vehicle":[13],"(I-AUV)":[14],"in":[15,125],"cluttered":[17,62,126],"environment":[18],"with":[19,120,143],"localization":[20],"uncertainty.":[21],"With":[22],"the":[23,54,61,83,102,106],"uncertainty":[24,146],"being":[25],"propagated":[26],"by":[27,36,77,97,110],"information":[29],"filter,":[30],"trajectory":[32],"optimization":[33,78,91],"problem":[34],"closed":[35],"Linear-Quadratic-Gaussian":[38],"controller":[39],"is":[40],"formulated":[41],"coupled":[44],"design":[45],"of":[46,56,60,66,105],"optimal":[47,138],"trajectory,":[48],"localization,":[49],"and":[50,136,139],"control.":[51],"Due":[52],"to":[53],"presence":[55],"obstacles":[57],"or":[58],"complexity":[59],"environment,":[63],"set":[65],"feasible":[67],"initial":[68,84,103,131],"I-AUV":[69,119,141],"trajectories":[70,86,104,132,142],"covering":[71],"multiple":[72],"homotopy":[73],"classes":[74],"are":[75,87,94,108,133,147],"required":[76],"solvers.":[79],"Parameterized":[80],"through":[81],"polynomials,":[82],"base":[85],"from":[88,99],"solving":[89],"quasi-quadratic":[90],"problems":[92],"that":[93,130,137],"linearly":[95],"constrained":[96],"waypoints":[98],"RRTconnect,":[100],"while":[101],"manipulator":[107,124],"generated":[109,134],"null":[112],"space":[113],"saturation":[114],"controller.":[115],"Simulations":[116],"on":[117],"3":[122],"DOF":[123],"underwater":[127],"environments":[128],"demonstrated":[129],"efficiently":[135],"collision-free":[140],"low":[144],"state":[145],"obtained.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}