{"id":"https://openalex.org/W2147527042","doi":"https://doi.org/10.1109/iros.2011.6094828","title":"A lower bound on navigation error for marine robots guided by ocean circulation models","display_name":"A lower bound on navigation error for marine robots guided by ocean circulation models","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2147527042","doi":"https://doi.org/10.1109/iros.2011.6094828","mag":"2147527042"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094828","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094828","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5109263159","display_name":"Klementyna Szwaykowska","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Klementyna Szwaykowska","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, USA"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068994727","display_name":"Fumin Zhang","orcid":"https://orcid.org/0000-0003-0053-4224"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fumin Zhang","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, USA"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5109263159"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":5.3019,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.96583253,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3583","last_page":"3588"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9966999888420105,"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"}},{"id":"https://openalex.org/T10255","display_name":"Oceanographic and Atmospheric Processes","score":0.9955000281333923,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/ocean-current","display_name":"Ocean current","score":0.5169231295585632},{"id":"https://openalex.org/keywords/lagrangian-particle-tracking","display_name":"Lagrangian particle tracking","score":0.5081081390380859},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4871501624584198},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.46952810883522034},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45192641019821167},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4413833022117615},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4350455701351166},{"id":"https://openalex.org/keywords/exponential-growth","display_name":"Exponential growth","score":0.4231528043746948},{"id":"https://openalex.org/keywords/exponential-function","display_name":"Exponential function","score":0.41197142004966736},{"id":"https://openalex.org/keywords/meteorology","display_name":"Meteorology","score":0.3247801959514618},{"id":"https://openalex.org/keywords/lagrangian","display_name":"Lagrangian","score":0.3051798343658447},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.295820415019989},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.20074233412742615},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.1849314570426941},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18166008591651917},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17297843098640442},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1703784167766571},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16788187623023987},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09781858325004578}],"concepts":[{"id":"https://openalex.org/C187599188","wikidata":"https://www.wikidata.org/wiki/Q129558","display_name":"Ocean current","level":2,"score":0.5169231295585632},{"id":"https://openalex.org/C2780916432","wikidata":"https://www.wikidata.org/wiki/Q6472698","display_name":"Lagrangian particle tracking","level":3,"score":0.5081081390380859},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4871501624584198},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.46952810883522034},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45192641019821167},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4413833022117615},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4350455701351166},{"id":"https://openalex.org/C75235859","wikidata":"https://www.wikidata.org/wiki/Q582659","display_name":"Exponential growth","level":2,"score":0.4231528043746948},{"id":"https://openalex.org/C151376022","wikidata":"https://www.wikidata.org/wiki/Q168698","display_name":"Exponential function","level":2,"score":0.41197142004966736},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.3247801959514618},{"id":"https://openalex.org/C53469067","wikidata":"https://www.wikidata.org/wiki/Q505735","display_name":"Lagrangian","level":2,"score":0.3051798343658447},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.295820415019989},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.20074233412742615},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.1849314570426941},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18166008591651917},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17297843098640442},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1703784167766571},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16788187623023987},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09781858325004578},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2011.6094828","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094828","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.711.1196","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.711.1196","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://users.ece.gatech.edu/%7Efumin/pdfs/SZ_IROS2011_1405.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.8700000047683716,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1243671644","https://openalex.org/W1970332306","https://openalex.org/W1996550914","https://openalex.org/W2018880739","https://openalex.org/W2025800439","https://openalex.org/W2033237147","https://openalex.org/W2079823077","https://openalex.org/W2097868028","https://openalex.org/W2106353989","https://openalex.org/W2120389216","https://openalex.org/W2133150111","https://openalex.org/W2143872920","https://openalex.org/W2145461394","https://openalex.org/W2146180594","https://openalex.org/W2171451809","https://openalex.org/W2172723972","https://openalex.org/W2176330282","https://openalex.org/W6627909139"],"related_works":["https://openalex.org/W4394883359","https://openalex.org/W1602624896","https://openalex.org/W1519862060","https://openalex.org/W1634993130","https://openalex.org/W2104564563","https://openalex.org/W32300376","https://openalex.org/W2794917831","https://openalex.org/W2013108996","https://openalex.org/W3023224836","https://openalex.org/W2414669154"],"abstract_inverted_index":{"This":[0,34],"paper":[1],"establishes":[2],"the":[3,13,22,74,77,82,93,101,130],"method":[4,122],"of":[5,18,27,76,90,123,132,139],"controlled":[6,28],"Lagrangian":[7],"particle":[8],"tracking":[9],"(CLPT)":[10],"to":[11,128],"analyse":[12],"offsets":[14],"between":[15],"physical":[16],"positions":[17,26],"marine":[19,140],"robots":[20],"in":[21,30,48,116],"ocean":[23,32,50,78,133],"and":[24,136],"simulated":[25],"particles":[29,114],"an":[31],"model.":[33],"offset":[35],"(which":[36],"we":[37],"term":[38],"CLPT":[39,57,103,124],"error)":[40],"has":[41],"characteristics":[42,109],"that":[43,70],"are":[44,110],"not":[45],"previously":[46],"seen":[47],"free-drifting":[49],"sampling":[51],"platforms":[52],"with":[53],"no":[54],"active":[55],"control.":[56],"error":[58,83,104],"growth":[59,84],"over":[60],"time":[61],"is":[62,85],"exponential":[63],"until":[64],"it":[65],"reaches":[66],"a":[67,96,117],"turning":[68],"point":[69],"depends":[71],"only":[72],"on":[73,100],"resolution":[75],"model,":[79],"after":[80],"which":[81],"bounded":[86],"by":[87],"polynomial":[88],"functions":[89],"time.":[91],"In":[92],"ideal":[94],"case,":[95],"theoretical":[97],"lower":[98],"bound":[99],"steady-state":[102],"can":[105],"be":[106,126],"derived.":[107],"These":[108],"proved":[111],"theoretically":[112],"for":[113],"moving":[115],"planar":[118],"flow":[119],"field.":[120],"The":[121],"may":[125],"applied":[127],"improve":[129],"accuracy":[131],"circulation":[134],"models":[135],"navigation":[137],"performance":[138],"robots.":[141]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
