{"id":"https://openalex.org/W4285102405","doi":"https://doi.org/10.1109/icra46639.2022.9811786","title":"Go With the Flow: Energy Minimising Periodic Trajectories for UVMS","display_name":"Go With the Flow: Energy Minimising Periodic Trajectories for UVMS","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102405","doi":"https://doi.org/10.1109/icra46639.2022.9811786"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811786","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811786","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5033607428","display_name":"Wilhelm J. Marais","orcid":"https://orcid.org/0000-0002-6593-8994"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Wilhelm J. Marais","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney,NSW,Australia","Australian Centre for Field Robotics, University of Sydney, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney,NSW,Australia","institution_ids":["https://openalex.org/I4210127558"]},{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044131792","display_name":"Stefan B. Williams","orcid":"https://orcid.org/0000-0001-9416-5639"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]},{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Stefan B. Williams","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney,NSW,Australia","Australian Centre for Field Robotics, University of Sydney, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney,NSW,Australia","institution_ids":["https://openalex.org/I4210127558"]},{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068908958","display_name":"Oscar Pizarro","orcid":"https://orcid.org/0000-0001-6612-2738"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Oscar Pizarro","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney,NSW,Australia","Australian Centre for Field Robotics, University of Sydney, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney,NSW,Australia","institution_ids":["https://openalex.org/I4210127558"]},{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5033607428"],"corresponding_institution_ids":["https://openalex.org/I129604602","https://openalex.org/I4210127558"],"apc_list":null,"apc_paid":null,"fwci":1.0617,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.71213347,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9972000122070312,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9972000122070312,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9970999956130981,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9959999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.590122401714325},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5626604557037354},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5461803674697876},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.5217800736427307},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5070614814758301},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4906570017337799},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.47516128420829773},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4748704135417938},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26045724749565125},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.25362318754196167},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19158044457435608},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14229318499565125},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11959508061408997},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11525124311447144},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.11055287718772888}],"concepts":[{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.590122401714325},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5626604557037354},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5461803674697876},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.5217800736427307},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5070614814758301},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4906570017337799},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.47516128420829773},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4748704135417938},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26045724749565125},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25362318754196167},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19158044457435608},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14229318499565125},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11959508061408997},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11525124311447144},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.11055287718772888},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9811786","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811786","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7900000214576721,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1518169716","https://openalex.org/W1833024299","https://openalex.org/W1872768694","https://openalex.org/W1976168015","https://openalex.org/W1992162216","https://openalex.org/W2023248353","https://openalex.org/W2045918489","https://openalex.org/W2086242739","https://openalex.org/W2090601308","https://openalex.org/W2126097529","https://openalex.org/W2129644801","https://openalex.org/W2133691532","https://openalex.org/W2153247018","https://openalex.org/W2154847670","https://openalex.org/W2291867183","https://openalex.org/W2336155359","https://openalex.org/W2562222449","https://openalex.org/W2743408048","https://openalex.org/W2765847602","https://openalex.org/W2782570193","https://openalex.org/W2891699026","https://openalex.org/W2914863619","https://openalex.org/W3081176596","https://openalex.org/W3112248643","https://openalex.org/W3160039362","https://openalex.org/W3186799597"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W1999583034","https://openalex.org/W3217214504","https://openalex.org/W2891537746","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W2773822314","https://openalex.org/W2953138830","https://openalex.org/W3176162126","https://openalex.org/W3201231642"],"abstract_inverted_index":{"For":[0],"Underwater":[1],"Vehicle":[2],"Manipulator":[3],"Systems":[4],"(UVMS),":[5],"the":[6,37,50,54,65,71,82,86],"ability":[7],"to":[8,59,85],"keep":[9,64],"a":[10,21,25,91,98],"fixed":[11,92],"end":[12,66,93],"effector":[13,67,94],"pose":[14],"is":[15],"required":[16],"for":[17,40,90],"intervention":[18],"tasks.":[19],"Maintaining":[20],"static":[22,87],"configuration":[23,88],"in":[24,57,101],"dynamic":[26,55],"underwater":[27],"environment":[28],"requires":[29],"significant":[30,99],"amounts":[31],"of":[32,53],"energy":[33,72,102],"over":[34,74],"time,":[35],"limiting":[36],"operational":[38],"time":[39],"battery":[41],"powered":[42],"systems.":[43],"In":[44],"this":[45,78],"work":[46],"we":[47],"consider":[48],"learning":[49],"periodic":[51,61],"components":[52],"flow":[56],"order":[58],"generate":[60],"trajectories":[62],"which":[63],"fixed,":[68],"yet":[69],"minimise":[70],"expenditure":[73],"time.":[75],"We":[76],"compare":[77],"proposed":[79],"\u2018go":[80],"with":[81],"flow\u2019":[83],"approach":[84],"case":[89],"pose,":[95],"and":[96],"show":[97],"reduction":[100],"use.":[103]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
