{"id":"https://openalex.org/W2772158501","doi":"https://doi.org/10.1109/iros.2017.8206528","title":"FACON: A flow-aided cooperative navigation scheme","display_name":"FACON: A flow-aided cooperative navigation scheme","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2772158501","doi":"https://doi.org/10.1109/iros.2017.8206528","mag":"2772158501"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206528","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206528","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5000263786","display_name":"Zhuoyuan Song","orcid":"https://orcid.org/0000-0002-7442-8435"},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhuoyuan Song","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA","institution_ids":["https://openalex.org/I33213144"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064775139","display_name":"Kamran Mohseni","orcid":"https://orcid.org/0000-0002-1382-221X"},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kamran Mohseni","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Department of Electrical and Computer Engineering, University of Florida, Gainesville, FL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Department of Electrical and Computer Engineering, University of Florida, Gainesville, FL, USA","institution_ids":["https://openalex.org/I33213144"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I33213144"],"apc_list":null,"apc_paid":null,"fwci":1.745,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.85123626,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6251","last_page":"6256"},"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/T11698","display_name":"Underwater Acoustics Research","score":0.9987000226974487,"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"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9979000091552734,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.5982058048248291},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5683535933494568},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.5638651251792908},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5273640751838684},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.49259549379348755},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4866541028022766},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4266012907028198},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39644598960876465},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.3235664963722229},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.3152402639389038},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17163991928100586},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.16949552297592163}],"concepts":[{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.5982058048248291},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5683535933494568},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.5638651251792908},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5273640751838684},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.49259549379348755},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4866541028022766},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4266012907028198},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39644598960876465},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.3235664963722229},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.3152402639389038},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17163991928100586},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.16949552297592163},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206528","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206528","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8600000143051147,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332181","display_name":"National Oceanic and Atmospheric Administration","ror":"https://ror.org/02z5nhe81"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1483307070","https://openalex.org/W1489182398","https://openalex.org/W1598327689","https://openalex.org/W1969142081","https://openalex.org/W1969960147","https://openalex.org/W2022283990","https://openalex.org/W2025800439","https://openalex.org/W2026826893","https://openalex.org/W2035537531","https://openalex.org/W2039158085","https://openalex.org/W2064336372","https://openalex.org/W2071834385","https://openalex.org/W2075701642","https://openalex.org/W2082321834","https://openalex.org/W2084755618","https://openalex.org/W2124294571","https://openalex.org/W2128453677","https://openalex.org/W2137378317","https://openalex.org/W2138400911","https://openalex.org/W2138890480","https://openalex.org/W2139111126","https://openalex.org/W2140676941","https://openalex.org/W2148234182","https://openalex.org/W2157092315","https://openalex.org/W2157379615","https://openalex.org/W2164443866","https://openalex.org/W2177415451","https://openalex.org/W2212547592","https://openalex.org/W2267281579","https://openalex.org/W2538692063","https://openalex.org/W2724172296","https://openalex.org/W2781744367","https://openalex.org/W3215609958","https://openalex.org/W4234095850","https://openalex.org/W4248050016","https://openalex.org/W6747589759"],"related_works":["https://openalex.org/W4247347568","https://openalex.org/W4250716077","https://openalex.org/W2358256220","https://openalex.org/W2050041763","https://openalex.org/W2008882664","https://openalex.org/W2131486049","https://openalex.org/W2024124515","https://openalex.org/W4300961947","https://openalex.org/W2415234998","https://openalex.org/W2089074378"],"abstract_inverted_index":{"Navigation":[0],"for":[1,19],"autonomous":[2],"underwater":[3],"vehicles":[4],"(AUVs)":[5],"in":[6,166],"mid-depth":[7],"water":[8],"column":[9],"is":[10,49,81,131,147,162],"notoriously":[11],"challenging":[12],"due":[13],"to":[14,32,86],"the":[15,34,99,120,139],"lack":[16],"of":[17,37,40,123,138,143,160],"features":[18],"reference.":[20],"In":[21],"this":[22],"paper,":[23],"we":[24],"propose":[25],"a":[26,38,144,150,167],"flow-aided":[27,140],"cooperative":[28,106],"navigation":[29,35,68,141],"(FACON)":[30],"strategy":[31],"improve":[33],"performance":[36,137],"team":[39],"AUVs":[41,103,130],"when":[42,117],"neither":[43],"frequent":[44],"surfacing":[45],"nor":[46],"persistent":[47],"bottom-locking":[48],"available.":[50],"Preloaded":[51],"ocean":[52,100],"current":[53,73],"forecasts":[54],"are":[55],"referenced":[56],"by":[57,83,98],"each":[58,84],"individual":[59],"vehicle":[60],"as":[61],"it":[62],"performs":[63],"dead-reckoning":[64],"with":[65],"an":[66],"inertial":[67],"system":[69],"and":[70,93,113],"measures":[71],"relative":[72,110],"velocities":[74],"during":[75],"navigation.":[76],"A":[77],"marginalized":[78],"particle":[79],"filter":[80],"applied":[82],"AUV":[85,146],"track":[87],"its":[88],"location,":[89],"velocity,":[90],"sensor":[91],"biases,":[92],"local":[94,115],"flow":[95,170],"perturbation":[96],"unresolved":[97],"forecast.":[101],"Meanwhile,":[102],"perform":[104],"distributed":[105],"localization":[107],"based":[108,153],"on":[109,154],"pose":[111],"measurements":[112],"asynchronized":[114],"communication":[116,121],"they":[118],"enter":[119],"range":[122],"one":[124],"another.":[125],"Opportunistic":[126],"information":[127],"fusion":[128],"among":[129],"realized":[132],"through":[133,164],"covariance":[134],"intersection.":[135],"The":[136,158],"scheme":[142],"single":[145],"analyzed":[148],"within":[149],"simulated":[151],"experiment":[152],"field":[155],"test":[156],"data.":[157],"feasibility":[159],"FACON":[161],"discussed":[163],"simulation":[165],"turbulent,":[168],"multi-gyre":[169],"field.":[171]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
