{"id":"https://openalex.org/W3207628893","doi":"https://doi.org/10.1109/icra48506.2021.9561865","title":"Energy-optimal Path Planning with Active Flow Perception for Autonomous Underwater Vehicles","display_name":"Energy-optimal Path Planning with Active Flow Perception for Autonomous Underwater Vehicles","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207628893","doi":"https://doi.org/10.1109/icra48506.2021.9561865","mag":"3207628893"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561865","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561865","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5000080860","display_name":"Niankai Yang","orcid":"https://orcid.org/0000-0002-7821-192X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Niankai Yang","raw_affiliation_strings":["University of Michigan,Department of Naval Architecture and Marine Engineering,Ann Arbor,MI,USA,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Naval Architecture and Marine Engineering,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088480783","display_name":"Dongsik Chang","orcid":"https://orcid.org/0000-0002-0304-4661"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dongsik Chang","raw_affiliation_strings":["University of Michigan,Department of Naval Architecture and Marine Engineering,Ann Arbor,MI,USA,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Naval Architecture and Marine Engineering,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089990642","display_name":"Matthew Johnson\u2010Roberson","orcid":"https://orcid.org/0000-0002-0506-907X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Johnson-Roberson","raw_affiliation_strings":["University of Michigan,Department of Naval Architecture and Marine Engineering,Ann Arbor,MI,USA,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Naval Architecture and Marine Engineering,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009899010","display_name":"Jing Sun","orcid":"https://orcid.org/0000-0002-1223-8986"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jing Sun","raw_affiliation_strings":["University of Michigan,Department of Naval Architecture and Marine Engineering,Ann Arbor,MI,USA,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Naval Architecture and Marine Engineering,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9928","last_page":"9934"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9912999868392944,"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/T11694","display_name":"Fluid Dynamics Simulations and Interactions","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.6329696774482727},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5444612503051758},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5041307210922241},{"id":"https://openalex.org/keywords/energy-flow","display_name":"Energy flow","score":0.49968385696411133},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4875618815422058},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.47083473205566406},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.46343857049942017},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.4610203504562378},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37575459480285645},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3740115761756897},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2547781467437744},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18885371088981628},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1745012104511261},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.10076388716697693}],"concepts":[{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.6329696774482727},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5444612503051758},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5041307210922241},{"id":"https://openalex.org/C206815995","wikidata":"https://www.wikidata.org/wiki/Q1341307","display_name":"Energy flow","level":3,"score":0.49968385696411133},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4875618815422058},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.47083473205566406},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.46343857049942017},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.4610203504562378},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37575459480285645},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3740115761756897},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2547781467437744},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18885371088981628},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1745012104511261},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.10076388716697693},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561865","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561865","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W25966859","https://openalex.org/W81238816","https://openalex.org/W1633869374","https://openalex.org/W1710291345","https://openalex.org/W1994176155","https://openalex.org/W1998406909","https://openalex.org/W2002346994","https://openalex.org/W2017713664","https://openalex.org/W2045823581","https://openalex.org/W2047926671","https://openalex.org/W2054779446","https://openalex.org/W2080466090","https://openalex.org/W2092330486","https://openalex.org/W2100600017","https://openalex.org/W2112724282","https://openalex.org/W2139277299","https://openalex.org/W2147414751","https://openalex.org/W2157907881","https://openalex.org/W2171792626","https://openalex.org/W2267184893","https://openalex.org/W2267281579","https://openalex.org/W2296153961","https://openalex.org/W2480475164","https://openalex.org/W2623817940","https://openalex.org/W2892042382","https://openalex.org/W2908944049","https://openalex.org/W2909076853","https://openalex.org/W2915089344","https://openalex.org/W3045835478","https://openalex.org/W4230965853","https://openalex.org/W6601078197","https://openalex.org/W6603223803","https://openalex.org/W6637488927","https://openalex.org/W6697248728","https://openalex.org/W6781737401"],"related_works":["https://openalex.org/W2359600231","https://openalex.org/W3216757130","https://openalex.org/W2380019117","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3154539612","https://openalex.org/W2035973639","https://openalex.org/W2147825701"],"abstract_inverted_index":{"Accurate":[0],"flow":[1,27,33,46,54,61,76,90,96,101,125,142,167,188,191,195],"predictions":[2,192],"are":[3],"critical":[4],"for":[5],"energy-optimal":[6,69,183],"path":[7,52,70,148,158],"planning":[8,71,159],"of":[9,18,84,135,162,204],"AUVs":[10],"with":[11,32,145,179],"endurance":[12],"requirements.":[13],"However,":[14],"the":[15,45,50,82,105,121,124,131,152,174,200,205],"complex":[16],"dynamics":[17,119],"ocean":[19],"currents":[20],"make":[21],"it":[22],"difficult":[23],"to":[24,58,154],"achieve":[25],"accurate":[26],"predictions.":[28],"For":[29],"an":[30,68,99],"AUV":[31],"and":[34,89,169,189],"location":[35],"sensing":[36],"capabilities,":[37],"one":[38],"can":[39],"optimize":[40],"vehicle":[41,51,85,163],"actions":[42],"so":[43],"that":[44,73,181],"information":[47],"collected":[48],"along":[49],"reduces":[53],"prediction":[55,91,97,126],"uncertainty,":[56,98],"referred":[57],"as":[59],"active":[60,75,141,194],"perception.":[62,77,196],"In":[63],"this":[64],"paper,":[65],"we":[66,150],"propose":[67],"approach":[72,80,176],"incorporates":[74],"The":[78],"proposed":[79,175,206],"achieves":[81],"objectives":[83],"energy":[86,146,164],"consumption":[87],"minimization":[88],"uncertainty":[92,127],"reduction.":[93],"To":[94,139],"quantify":[95],"empirical":[100],"model":[102,137],"parameterized":[103],"using":[104,165,185],"proper":[106],"orthogonal":[107],"decomposition":[108],"(POD)":[109],"is":[110,128,177],"constructed":[111],"based":[112],"on":[113],"historical":[114],"data.":[115],"Assuming":[116],"negligible":[117],"unmodeled":[118],"in":[120,160],"POD":[122],"model,":[123],"evaluated":[129],"by":[130],"Cramer-Rao":[132],"(CR)":[133],"bound":[134],"estimated":[136,166],"parameters.":[138],"establish":[140],"perception":[143],"combined":[144],"optimal":[147],"planning,":[149],"formulate":[151],"cost":[153],"be":[155],"minimized":[156],"during":[157],"terms":[161],"parameters":[168],"CR":[170],"bound.":[171],"Through":[172],"simulations,":[173],"compared":[178],"approaches":[180],"plan":[182],"paths":[184],"i)":[186],"true":[187],"ii)":[190],"without":[193],"Simulation":[197],"results":[198],"demonstrate":[199],"satisfactory":[201],"energy-saving":[202],"performance":[203],"approach.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
