{"id":"https://openalex.org/W2057393400","doi":"https://doi.org/10.1109/iros.2012.6385523","title":"A nonlinear path following controller for an underactuated unmanned surface vessel","display_name":"A nonlinear path following controller for an underactuated unmanned surface vessel","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2057393400","doi":"https://doi.org/10.1109/iros.2012.6385523","mag":"2057393400"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385523","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5103375964","display_name":"J.M. Daly","orcid":null},"institutions":[{"id":"https://openalex.org/I4210112746","display_name":"Quanser (Canada)","ror":"https://ror.org/02yxan022","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210112746"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"John M. Daly","raw_affiliation_strings":["Quanser Consulting, Inc., Markham, ONT, Canada","Quanser Consulting Inc., 119 Spy Court, Markham, Ontario, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Quanser Consulting, Inc., Markham, ONT, Canada","institution_ids":["https://openalex.org/I4210112746"]},{"raw_affiliation_string":"Quanser Consulting Inc., 119 Spy Court, Markham, Ontario, Canada","institution_ids":["https://openalex.org/I4210112746"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023949284","display_name":"Michael J. Tribou","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Michael J. Tribou","raw_affiliation_strings":["The Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ONT, Canada","Dept. of Electrical and Computer Engineering, University of Waterloo, 200 University Avenue West, Ontario, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ONT, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering, University of Waterloo, 200 University Avenue West, Ontario, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024242059","display_name":"Steven L. Waslander","orcid":"https://orcid.org/0000-0003-4217-4415"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Steven L. Waslander","raw_affiliation_strings":["The Department of Mechanical and Mechatronics Engineering, University of Waterloo, Canada","[Department of Mechanical and Mechatronics Engineering, University of Waterloo, Canada]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Department of Mechanical and Mechatronics Engineering, University of Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"[Department of Mechanical and Mechatronics Engineering, University of Waterloo, Canada]","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5786,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.62274148,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"82","last_page":"87"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9991000294685364,"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":0.9991000294685364,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8613948225975037},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.8236048221588135},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7781525254249573},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6461440920829773},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5904844999313354},{"id":"https://openalex.org/keywords/compass","display_name":"Compass","score":0.5344948172569275},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5243480801582336},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.46880441904067993},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4630316495895386},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43730342388153076},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4324982464313507},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.42956116795539856},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.42381128668785095},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37913480401039124},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32896676659584045},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2490207552909851},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16222482919692993},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13903707265853882},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1311163604259491},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11077845096588135},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07231095433235168}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8613948225975037},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.8236048221588135},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7781525254249573},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6461440920829773},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5904844999313354},{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.5344948172569275},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5243480801582336},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.46880441904067993},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4630316495895386},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43730342388153076},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4324982464313507},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.42956116795539856},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.42381128668785095},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37913480401039124},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32896676659584045},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2490207552909851},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16222482919692993},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13903707265853882},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1311163604259491},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11077845096588135},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07231095433235168},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"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/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/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6385523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385523","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W130364663","https://openalex.org/W1603121482","https://openalex.org/W2009985114","https://openalex.org/W2033446047","https://openalex.org/W2074178868","https://openalex.org/W2095555102","https://openalex.org/W2128293163","https://openalex.org/W2130706967","https://openalex.org/W2150082274","https://openalex.org/W4240552839","https://openalex.org/W4241515449","https://openalex.org/W6605266510"],"related_works":["https://openalex.org/W2605432590","https://openalex.org/W2356081237","https://openalex.org/W2375484500","https://openalex.org/W2358466676","https://openalex.org/W2326898049","https://openalex.org/W2356866090","https://openalex.org/W2321835347","https://openalex.org/W2133742016","https://openalex.org/W2735051469","https://openalex.org/W325613576"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"a":[3,27,32,46,91],"novel":[4],"path":[5],"following":[6],"controller":[7,48,77],"for":[8],"underactuated":[9],"unmanned":[10],"surface":[11],"vessels":[12],"(USVs)":[13],"that":[14,30,75],"is":[15,66],"both":[16],"provably":[17],"stable":[18],"and":[19,45,56,93,111],"intuitive":[20],"to":[21,36,49,72],"tune.":[22],"The":[23],"approach":[24,103],"consists":[25],"of":[26,53,61,101,107],"navigation":[28],"component":[29],"computes":[31],"desired":[33],"heading":[34],"angle":[35],"ensure":[37],"the":[38,43,62,76,82,98,102,105],"USV":[39],"will":[40],"arrive":[41],"at":[42],"path,":[44],"nonlinear":[47],"guarantee":[50],"exponential":[51],"tracking":[52],"surge":[54],"velocity":[55,65],"heading.":[57],"Additionally,":[58],"ultimate":[59],"boundedness":[60],"unactuated":[63],"sway":[64],"proven.":[67],"Simulation":[68],"results":[69,87],"are":[70,88],"presented":[71],"show":[73],"numerically":[74],"works":[78],"as":[79,95],"expected":[80],"in":[81,104],"ideal":[83],"case.":[84],"Outdoor":[85],"experimental":[86],"presented,":[89],"using":[90],"GPS":[92],"compass":[94],"sensors,":[96],"showing":[97],"practical":[99],"feasibility":[100],"presence":[106],"sensor":[108],"noise,":[109],"disturbances,":[110],"unmodeled":[112],"dynamics.":[113]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}