{"id":"https://openalex.org/W3209213092","doi":"https://doi.org/10.1109/jas.2021.1004269","title":"A Survey of Underwater Multi-Robot Systems","display_name":"A Survey of Underwater Multi-Robot Systems","publication_year":2021,"publication_date":"2021-10-20","ids":{"openalex":"https://openalex.org/W3209213092","doi":"https://doi.org/10.1109/jas.2021.1004269","mag":"3209213092"},"language":"en","primary_location":{"id":"doi:10.1109/jas.2021.1004269","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2021.1004269","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-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/A5030505535","display_name":"Ziye Zhou","orcid":"https://orcid.org/0000-0002-6604-8176"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziye Zhou","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex System, Beijing Innovation Center for Engineering Science and Advanced Technology, College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex System, Beijing Innovation Center for Engineering Science and Advanced Technology, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011189615","display_name":"Jincun Liu","orcid":"https://orcid.org/0000-0002-2872-4911"},"institutions":[{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jincun Liu","raw_affiliation_strings":["College of Information and Electrical Engineering, China Agricultural University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information and Electrical Engineering, China Agricultural University, Beijing, China","institution_ids":["https://openalex.org/I52158045"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073958329","display_name":"Junzhi Yu","orcid":"https://orcid.org/0000-0002-6347-572X"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzhi Yu","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex System, Beijing Innovation Center for Engineering Science and Advanced Technology, College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex System, Beijing Innovation Center for Engineering Science and Advanced Technology, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.1987,"has_fulltext":false,"cited_by_count":142,"citation_normalized_percentile":{"value":0.99461285,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"9","issue":"1","first_page":"1","last_page":"18"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.8377339839935303},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.6227683424949646},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.605373740196228},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5662363767623901},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5542784333229065},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5441639423370361},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5273944735527039},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.4811340868473053},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.4568506181240082},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.44715237617492676},{"id":"https://openalex.org/keywords/categorization","display_name":"Categorization","score":0.4463490843772888},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4286283254623413},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3794754147529602},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2815134525299072},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.15923374891281128},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07219868898391724},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07087481021881104}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.8377339839935303},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.6227683424949646},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.605373740196228},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5662363767623901},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5542784333229065},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5441639423370361},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5273944735527039},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.4811340868473053},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.4568506181240082},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.44715237617492676},{"id":"https://openalex.org/C94124525","wikidata":"https://www.wikidata.org/wiki/Q912550","display_name":"Categorization","level":2,"score":0.4463490843772888},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4286283254623413},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3794754147529602},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2815134525299072},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15923374891281128},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07219868898391724},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07087481021881104},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jas.2021.1004269","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2021.1004269","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G90009191","display_name":null,"funder_award_id":"U1909206,61725305,61903007,62073196","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":133,"referenced_works":["https://openalex.org/W129976106","https://openalex.org/W1514789495","https://openalex.org/W1538672858","https://openalex.org/W1604772654","https://openalex.org/W1735602729","https://openalex.org/W1899212968","https://openalex.org/W1968578208","https://openalex.org/W1971399575","https://openalex.org/W1990753492","https://openalex.org/W1998626274","https://openalex.org/W2000076730","https://openalex.org/W2000512259","https://openalex.org/W2005820388","https://openalex.org/W2008469164","https://openalex.org/W2012812921","https://openalex.org/W2012845918","https://openalex.org/W2014574142","https://openalex.org/W2026170436","https://openalex.org/W2028201231","https://openalex.org/W2035625658","https://openalex.org/W2040538966","https://openalex.org/W2047306731","https://openalex.org/W2054896280","https://openalex.org/W2060880069","https://openalex.org/W2061873794","https://openalex.org/W2077297105","https://openalex.org/W2079501142","https://openalex.org/W2080183025","https://openalex.org/W2081084346","https://openalex.org/W2088204452","https://openalex.org/W2096377923","https://openalex.org/W2105034271","https://openalex.org/W2105419218","https://openalex.org/W2107462665","https://openalex.org/W2115478506","https://openalex.org/W2121635509","https://openalex.org/W2121638568","https://openalex.org/W2124877146","https://openalex.org/W2128172984","https://openalex.org/W2128415126","https://openalex.org/W2128601725","https://openalex.org/W2128761721","https://openalex.org/W2136239655","https://openalex.org/W2137843737","https://openalex.org/W2140929789","https://openalex.org/W2142968849","https://openalex.org/W2144634646","https://openalex.org/W2148506166","https://openalex.org/W2149522510","https://openalex.org/W2156468429","https://openalex.org/W2157472343","https://openalex.org/W2159678986","https://openalex.org/W2162574196","https://openalex.org/W2162584647","https://openalex.org/W2162992515","https://openalex.org/W2164313740","https://openalex.org/W2169822448","https://openalex.org/W2288109557","https://openalex.org/W2288756142","https://openalex.org/W2289335670","https://openalex.org/W2297172695","https://openalex.org/W2297413314","https://openalex.org/W2343075530","https://openalex.org/W2345111710","https://openalex.org/W2463523319","https://openalex.org/W2482916973","https://openalex.org/W2492969592","https://openalex.org/W2526022587","https://openalex.org/W2528589031","https://openalex.org/W2562901529","https://openalex.org/W2565442587","https://openalex.org/W2565702580","https://openalex.org/W2579831330","https://openalex.org/W2607000399","https://openalex.org/W2736361778","https://openalex.org/W2736569474","https://openalex.org/W2745523125","https://openalex.org/W2754524650","https://openalex.org/W2766159640","https://openalex.org/W2766596599","https://openalex.org/W2770322874","https://openalex.org/W2772042746","https://openalex.org/W2779863693","https://openalex.org/W2786910493","https://openalex.org/W2791009491","https://openalex.org/W2792300139","https://openalex.org/W2793015082","https://openalex.org/W2800210144","https://openalex.org/W2803156489","https://openalex.org/W2806808166","https://openalex.org/W2809054032","https://openalex.org/W2886299710","https://openalex.org/W2896506818","https://openalex.org/W2896863721","https://openalex.org/W2905184862","https://openalex.org/W2911445260","https://openalex.org/W2914960106","https://openalex.org/W2915974804","https://openalex.org/W2920572859","https://openalex.org/W2922209893","https://openalex.org/W2944892486","https://openalex.org/W2952169061","https://openalex.org/W2952408149","https://openalex.org/W2952706889","https://openalex.org/W2952786796","https://openalex.org/W2953375555","https://openalex.org/W2959298928","https://openalex.org/W2961079766","https://openalex.org/W2965352870","https://openalex.org/W2965561449","https://openalex.org/W2967042487","https://openalex.org/W2969058695","https://openalex.org/W2970946494","https://openalex.org/W2971487583","https://openalex.org/W2973021099","https://openalex.org/W2977340802","https://openalex.org/W2979901774","https://openalex.org/W2980054688","https://openalex.org/W2981607094","https://openalex.org/W2981851219","https://openalex.org/W2983917744","https://openalex.org/W2995328663","https://openalex.org/W2995525702","https://openalex.org/W2996049890","https://openalex.org/W3006474838","https://openalex.org/W3007833995","https://openalex.org/W3010996182","https://openalex.org/W3011445504","https://openalex.org/W3020261978","https://openalex.org/W3029042406","https://openalex.org/W3094304520","https://openalex.org/W6605253874","https://openalex.org/W6679921963"],"related_works":["https://openalex.org/W2165912799","https://openalex.org/W2735662278","https://openalex.org/W2382615723","https://openalex.org/W4311804456","https://openalex.org/W1987484445","https://openalex.org/W2623658258","https://openalex.org/W2143413548","https://openalex.org/W1969219540","https://openalex.org/W2370459448","https://openalex.org/W2105067402"],"abstract_inverted_index":{"As":[0],"a":[1,32],"cross-cutting":[2],"field":[3],"between":[4],"ocean":[5,130],"development":[6],"and":[7,22,95],"multi-robot":[8,13],"system":[9,14],"(MRS),":[10],"the":[11,40,46,49,58,74,82,85,89,96,118],"underwater":[12,87,93,126],"(UMRS)":[15],"has":[16],"gained":[17],"increasing":[18],"attention":[19],"from":[20,45,78],"researchers":[21],"engineers":[23],"in":[24,60,128],"recent":[25],"decades.":[26],"In":[27],"this":[28],"paper,":[29],"we":[30,56,72,103],"present":[31],"comprehensive":[33],"survey":[34,113],"of":[35,39,43,48,51,62,76,84,92,99,121],"cooperation":[36,59],"issues,":[37],"one":[38],"key":[41],"components":[42],"UMRS,":[44],"perspective":[47],"emergence":[50],"new":[52,90],"functions.":[53],"More":[54],"specifically,":[55],"categorize":[57],"terms":[61],"task-space,":[63],"motion-space,":[64],"measurement-space,":[65],"as":[66,68],"well":[67],"their":[69],"combination.":[70],"Further,":[71],"analyze":[73],"architecture":[75],"UMRS":[77,122],"three":[79],"aspects,":[80],"i.e.,":[81],"performance":[83],"individual":[86],"robot,":[88],"functions":[91],"robots,":[94],"technical":[97],"approaches":[98],"MRS.":[100],"To":[101],"conclude,":[102],"have":[104],"discussed":[105],"related":[106],"promising":[107],"directions":[108],"for":[109],"future":[110],"research.":[111],"This":[112],"provides":[114],"valuable":[115],"insight":[116],"into":[117],"reasonable":[119],"utilization":[120],"to":[123],"attain":[124],"diverse":[125],"tasks":[127],"complex":[129],"application":[131],"scenarios.":[132]},"counts_by_year":[{"year":2026,"cited_by_count":13},{"year":2025,"cited_by_count":41},{"year":2024,"cited_by_count":34},{"year":2023,"cited_by_count":32},{"year":2022,"cited_by_count":22}],"updated_date":"2026-07-25T09:21:30.201066","created_date":"2025-10-10T00:00:00"}
