{"id":"https://openalex.org/W4416750177","doi":"https://doi.org/10.1109/iros60139.2025.11246545","title":"Reservoir Computing-Enhanced Tube-MPC: Real-Time Self-Healing Control for Robust AUV Path Following Under Dynamic Faults","display_name":"Reservoir Computing-Enhanced Tube-MPC: Real-Time Self-Healing Control for Robust AUV Path Following Under Dynamic Faults","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750177","doi":"https://doi.org/10.1109/iros60139.2025.11246545"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246545","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246545","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5030459373","display_name":"Lie Xu","orcid":"https://orcid.org/0000-0001-5633-7866"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lie Xu","raw_affiliation_strings":["Zhejiang University,Institute of Marine Electronics and Intelligent Systems, Ocean College,Zhoushan,China,316000"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Marine Electronics and Intelligent Systems, Ocean College,Zhoushan,China,316000","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075217125","display_name":"Daxiong Ji","orcid":"https://orcid.org/0000-0003-4800-5807"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daxiong Ji","raw_affiliation_strings":["Zhejiang University,Institute of Marine Electronics and Intelligent Systems, Ocean College,Zhoushan,China,316000"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Marine Electronics and Intelligent Systems, Ocean College,Zhoushan,China,316000","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078181007","display_name":"Yan Zhi Tan","orcid":"https://orcid.org/0000-0002-4266-1363"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yan Zhi Tan","raw_affiliation_strings":["National University of Singapore,Robotics &#x0026; Advanced Mobility Program (Centre),Singapore,117608"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Robotics &#x0026; Advanced Mobility Program (Centre),Singapore,117608","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114205970","display_name":"Eng Wei Goh","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Eng Wei Goh","raw_affiliation_strings":["National University of Singapore,Robotics &#x0026; Advanced Mobility Program (Centre),Singapore,117608"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Robotics &#x0026; Advanced Mobility Program (Centre),Singapore,117608","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Marcelo H. Ang","raw_affiliation_strings":["National University of Singapore,Robotics &#x0026; Advanced Mobility Program (Centre),Singapore,117608"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Robotics &#x0026; Advanced Mobility Program (Centre),Singapore,117608","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5030459373"],"corresponding_institution_ids":["https://openalex.org/I31847773"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19310271,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10832","last_page":"10839"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12611","display_name":"Neural Networks and Reservoir Computing","score":0.9243000149726868,"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"}},"topics":[{"id":"https://openalex.org/T12611","display_name":"Neural Networks and Reservoir Computing","score":0.9243000149726868,"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/T11206","display_name":"Model Reduction and Neural Networks","score":0.016599999740719795,"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":0.01119999960064888,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6179999709129333},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6079000234603882},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5950000286102295},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.5580999851226807},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5220999717712402},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4526999890804291},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4368000030517578},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4146000146865845}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6413999795913696},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6179999709129333},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6079000234603882},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5950000286102295},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.5580999851226807},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5220999717712402},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4526999890804291},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4368000030517578},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4300000071525574},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4146000146865845},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.391400009393692},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.367900013923645},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.325300008058548},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3215000033378601},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.3093999922275543},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.30649998784065247},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.30160000920295715},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.29089999198913574},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2883000075817108},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2865999937057495},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.27469998598098755},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.26739999651908875},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2630000114440918}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246545","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246545","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320338469","display_name":"Science and Technology Program of Zhejiang Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1420482694","https://openalex.org/W2020069551","https://openalex.org/W2071995661","https://openalex.org/W2171865010","https://openalex.org/W2537300304","https://openalex.org/W2590307769","https://openalex.org/W2948652605","https://openalex.org/W2952672134","https://openalex.org/W2962872206","https://openalex.org/W2966061424","https://openalex.org/W3011036397","https://openalex.org/W3038427506","https://openalex.org/W3091101445","https://openalex.org/W3091635810","https://openalex.org/W3131850807","https://openalex.org/W3135624149","https://openalex.org/W3195195561","https://openalex.org/W3196290466","https://openalex.org/W3198369370","https://openalex.org/W4200181476","https://openalex.org/W4213414279","https://openalex.org/W4225917661","https://openalex.org/W4285220826","https://openalex.org/W4293481459","https://openalex.org/W4321380998","https://openalex.org/W4367663135","https://openalex.org/W4390492434","https://openalex.org/W4394585992","https://openalex.org/W4394595432","https://openalex.org/W4394627460","https://openalex.org/W4396238870","https://openalex.org/W4405599328"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,108],"novel":[4],"control":[5,16,133],"framework":[6],"that":[7,63,90],"integrates":[8],"reservoir":[9],"computing":[10],"(RC)":[11],"with":[12],"Tube":[13,49],"model":[14,55],"predictive":[15],"(Tube-MPC)":[17],"for":[18,131],"robust":[19,52],"path":[20,71],"following":[21,72],"in":[22,68,102,135],"quadrotor":[23],"autonomous":[24],"underwater":[25,138],"vehicles":[26],"(QAUVs)":[27],"under":[28],"sudden":[29],"fault":[30,104,109],"conditions.":[31],"The":[32],"proposed":[33,92],"RC-Tube-MPC":[34,64,113,129],"leverages":[35],"the":[36,78,91,118,124,127],"dynamic":[37],"modeling":[38],"capabilities":[39],"of":[40,70,80,111,126],"RC":[41],"to":[42,117],"efficiently":[43],"approximate":[44],"complex":[45],"nonlinear":[46],"behaviors,":[47],"while":[48],"correction":[50],"ensures":[51],"performance":[53,86,96],"despite":[54],"uncertainties":[56],"and":[57,74],"external":[58],"disturbances.":[59],"Comparative":[60],"simulations":[61],"demonstrate":[62],"outperforms":[65],"alternative":[66],"approaches":[67],"terms":[69],"accuracy":[73],"computational":[75],"efficiency.":[76],"Additionally,":[77],"influence":[79],"training":[81],"data":[82,99],"length":[83],"on":[84],"learning":[85],"is":[87],"analyzed,":[88],"revealing":[89],"method":[93],"maintains":[94],"superior":[95],"across":[97],"various":[98],"regimes.":[100],"Notably,":[101],"severe":[103],"scenarios,":[105],"such":[106],"as":[107],"factor":[110],"0.3,":[112],"uniquely":[114],"restores":[115],"convergence":[116],"reference":[119],"path.":[120],"These":[121],"results":[122],"underscore":[123],"potential":[125],"integrated":[128],"approach":[130],"real-time":[132],"applications":[134],"dynamic,":[136],"fault-prone":[137],"environments.":[139]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}
