{"id":"https://openalex.org/W4401416096","doi":"https://doi.org/10.1109/icra57147.2024.10610406","title":"RUMP: Robust Underwater Motion Planning in Dynamic Environments of Fast-moving Obstacles","display_name":"RUMP: Robust Underwater Motion Planning in Dynamic Environments of Fast-moving Obstacles","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416096","doi":"https://doi.org/10.1109/icra57147.2024.10610406"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610406","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 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/A5047702306","display_name":"Herman B. Amundsen","orcid":"https://orcid.org/0000-0002-3542-9785"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Herman Bi\u00f8rn Amundsen","raw_affiliation_strings":["NTNU,Department of Engineering Cybernetics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NTNU,Department of Engineering Cybernetics","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003019851","display_name":"Torben Falleth Olsen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Torben Falleth Olsen","raw_affiliation_strings":["NTNU and Kongsberg Discovery,Department of Engineering Cybernetics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NTNU and Kongsberg Discovery,Department of Engineering Cybernetics","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110482454","display_name":"Marios Xanthidis","orcid":null},"institutions":[{"id":"https://openalex.org/I173888879","display_name":"SINTEF","ror":"https://ror.org/01f677e56","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Marios Xanthidis","raw_affiliation_strings":["SINTEF Ocean,Aquaculture Robotics and Automation Group"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SINTEF Ocean,Aquaculture Robotics and Automation Group","institution_ids":["https://openalex.org/I173888879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050408962","display_name":"Martin F\u00f8re","orcid":"https://orcid.org/0000-0002-9312-7443"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Martin F\u00f8re","raw_affiliation_strings":["NTNU and Kongsberg Discovery,Department of Engineering Cybernetics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NTNU and Kongsberg Discovery,Department of Engineering Cybernetics","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024657122","display_name":"Eleni Kelasidi","orcid":"https://orcid.org/0000-0003-4768-2937"},"institutions":[{"id":"https://openalex.org/I173888879","display_name":"SINTEF","ror":"https://ror.org/01f677e56","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Eleni Kelasidi","raw_affiliation_strings":["SINTEF Ocean,Aquaculture Robotics and Automation Group"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SINTEF Ocean,Aquaculture Robotics and Automation Group","institution_ids":["https://openalex.org/I173888879"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6131,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.67227007,"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":"3743","last_page":"3750"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9993000030517578,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9926000237464905,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/underwater","display_name":"Underwater","score":0.6474449634552002},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6050460934638977},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4665507972240448},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.41694849729537964},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3802286386489868},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3400578498840332},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.327936053276062},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3149959444999695},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14822587370872498},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.13497954607009888},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.126743882894516}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6474449634552002},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6050460934638977},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4665507972240448},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.41694849729537964},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3802286386489868},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3400578498840332},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.327936053276062},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3149959444999695},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14822587370872498},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.13497954607009888},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.126743882894516}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610406","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W13526942","https://openalex.org/W61873113","https://openalex.org/W141244604","https://openalex.org/W648911558","https://openalex.org/W1424654272","https://openalex.org/W1564791480","https://openalex.org/W1588183031","https://openalex.org/W1976726656","https://openalex.org/W1978956894","https://openalex.org/W2002440441","https://openalex.org/W2041183371","https://openalex.org/W2042106485","https://openalex.org/W2059213531","https://openalex.org/W2117211893","https://openalex.org/W2123871098","https://openalex.org/W2142224528","https://openalex.org/W2147634615","https://openalex.org/W2171792626","https://openalex.org/W2342400483","https://openalex.org/W2471990854","https://openalex.org/W2525786140","https://openalex.org/W2531266553","https://openalex.org/W2768393699","https://openalex.org/W2768656338","https://openalex.org/W2842089854","https://openalex.org/W2901058014","https://openalex.org/W2922091708","https://openalex.org/W2945214992","https://openalex.org/W2965369772","https://openalex.org/W2967333821","https://openalex.org/W2967737732","https://openalex.org/W2978951642","https://openalex.org/W2988503405","https://openalex.org/W2989771134","https://openalex.org/W2997139301","https://openalex.org/W3003508462","https://openalex.org/W3004361089","https://openalex.org/W3007677199","https://openalex.org/W3039235589","https://openalex.org/W3045462839","https://openalex.org/W3090366486","https://openalex.org/W3130611904","https://openalex.org/W3201963303","https://openalex.org/W3214464180","https://openalex.org/W3216720137","https://openalex.org/W4213229758","https://openalex.org/W4213374271","https://openalex.org/W4287010188","https://openalex.org/W4293054053","https://openalex.org/W4310011176","https://openalex.org/W4323339114","https://openalex.org/W4323527499","https://openalex.org/W4323527657","https://openalex.org/W4382050565","https://openalex.org/W4383108321","https://openalex.org/W4386066124","https://openalex.org/W6601818931"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W1999583034","https://openalex.org/W3217214504","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W2953138830","https://openalex.org/W2773822314","https://openalex.org/W3176162126","https://openalex.org/W2891537746","https://openalex.org/W3201231642"],"abstract_inverted_index":{"Robust":[0],"underwater":[1,6,77],"motion":[2,70],"planning":[3,71,125],"of":[4,84,172,185,202],"autonomous":[5,76],"vehicles":[7],"(AUVs)":[8],"in":[9,22,27,40,53,79,101,164,181],"dynamic":[10,88],"cluttered":[11,81],"environments":[12,82,165],"is":[13,92,139],"a":[14,67,104,124,149],"problem":[15,91],"that":[16,46,168],"has":[17],"yet":[18],"to":[19,25,35,49,119,132,189],"be":[20,99],"addressed":[21],"depth.":[23],"Due":[24],"advances":[26],"technology":[28],"and":[29,38,61,87,97,127,198],"computational":[30],"capacity,":[31],"AUVs":[32],"are":[33,47],"expected":[34,130],"operate":[36],"safely":[37,50],"autonomously":[39],"increasingly":[41],"challenging":[42,183],"environments,":[43],"necessitating":[44],"methods":[45],"able":[48],"navigate":[51],"robots":[52],"real-time.":[54],"Though,":[55],"most":[56],"solutions":[57],"remain":[58],"overly":[59],"cautious":[60],"conservative.":[62],"This":[63],"paper":[64],"proposes":[65],"RUMP,":[66],"novel":[68,150],"locally-optimal":[69],"framework":[72],"for":[73,141,152],"robust":[74],"real-time":[75,102,200],"navigation":[78],"3D":[80],"consisting":[83],"observed":[85],"static":[86],"obstacles.":[89],"The":[90,108,157],"modeled":[93],"using":[94],"path":[95,137],"optimization":[96,118],"can":[98],"solved":[100],"with":[103,166],"common":[105],"nonlinear":[106],"solver.":[107],"constructed":[109],"objective":[110],"function":[111],"allows":[112],"deciding":[113],"the":[114,129,133,142,176,194],"local":[115],"goal":[116],"during":[117],"both":[120],"maximize":[121],"safety":[122,138],"within":[123],"horizon":[126],"minimize":[128],"distance":[131],"target":[134],"position.":[135],"Furthermore,":[136],"considered":[140],"entire":[143],"transition":[144],"between":[145],"consecutive":[146],"states,":[147],"utilizing":[148],"approach":[151],"continuous":[153],"spatiotemporal":[154],"collision":[155],"checks.":[156],"proposed":[158],"formulation":[159],"provides":[160],"safe":[161],"performance":[162,201],"even":[163],"obstacles":[167,186],"may":[169],"move":[170],"orders":[171],"magnitude":[173],"faster":[174,192],"than":[175,193,204],"AUV":[177],"itself.":[178],"Simulation":[179],"experiments,":[180],"different":[182],"scenarios":[184],"moving":[187],"up":[188],"100":[190],"times":[191],"robot,":[195],"showcase":[196],"robustness":[197],"efficient":[199],"more":[203],"15":[205],"Hz.":[206]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}
