{"id":"https://openalex.org/W4361029875","doi":"https://doi.org/10.1109/jiot.2023.3262707","title":"Cooperative Formation Control for Multiple AUVs With Intermittent Underwater Acoustic Communication in IoUT","display_name":"Cooperative Formation Control for Multiple AUVs With Intermittent Underwater Acoustic Communication in IoUT","publication_year":2023,"publication_date":"2023-03-28","ids":{"openalex":"https://openalex.org/W4361029875","doi":"https://doi.org/10.1109/jiot.2023.3262707"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2023.3262707","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2023.3262707","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"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 Internet of Things Journal","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/A5088764444","display_name":"Wenyu Cai","orcid":"https://orcid.org/0000-0002-8858-9221"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenyu Cai","raw_affiliation_strings":["College of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8858-9221","affiliations":[{"raw_affiliation_string":"College of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100628622","display_name":"Ziqiang Liu","orcid":"https://orcid.org/0000-0001-7281-0289"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziqiang Liu","raw_affiliation_strings":["College of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036167349","display_name":"Meiyan Zhang","orcid":"https://orcid.org/0000-0002-0396-5786"},"institutions":[{"id":"https://openalex.org/I4210160030","display_name":"Zhejiang University of Water Resource and Electric Power","ror":"https://ror.org/04dg5b632","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210160030"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meiyan Zhang","raw_affiliation_strings":["College of Electrical Engineering, Zhejiang University of Water Resources and Electric Power, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0396-5786","affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Zhejiang University of Water Resources and Electric Power, Hangzhou, China","institution_ids":["https://openalex.org/I4210160030"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066546170","display_name":"Shuaishuai Lv","orcid":"https://orcid.org/0000-0002-9822-9959"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuaishuai Lv","raw_affiliation_strings":["College of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-9822-9959","affiliations":[{"raw_affiliation_string":"College of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014617736","display_name":"Chengcai Wang","orcid":"https://orcid.org/0000-0002-8937-6199"},"institutions":[{"id":"https://openalex.org/I4210130112","display_name":"China Academy of Information and Communications Technology","ror":"https://ror.org/038dte259","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210130112","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengcai Wang","raw_affiliation_strings":["China Academy of Electronics and Information Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8937-6199","affiliations":[{"raw_affiliation_string":"China Academy of Electronics and Information Technology, Beijing, China","institution_ids":["https://openalex.org/I4210130112"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.247,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.98027436,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"10","issue":"17","first_page":"15301","last_page":"15313"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/computer-science","display_name":"Computer science","score":0.749208390712738},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7332427501678467},{"id":"https://openalex.org/keywords/network-packet","display_name":"Network packet","score":0.591575562953949},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.5594813823699951},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5285307765007019},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.4348151683807373},{"id":"https://openalex.org/keywords/dropout","display_name":"Dropout (neural networks)","score":0.42217496037483215},{"id":"https://openalex.org/keywords/underwater-acoustic-communication","display_name":"Underwater acoustic communication","score":0.41575154662132263},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3330806493759155},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33305293321609497},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.19050052762031555},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.15439316630363464},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14036613702774048},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.0835028886795044}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.749208390712738},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7332427501678467},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.591575562953949},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.5594813823699951},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5285307765007019},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.4348151683807373},{"id":"https://openalex.org/C2776145597","wikidata":"https://www.wikidata.org/wiki/Q25339462","display_name":"Dropout (neural networks)","level":2,"score":0.42217496037483215},{"id":"https://openalex.org/C169111936","wikidata":"https://www.wikidata.org/wiki/Q424098","display_name":"Underwater acoustic communication","level":3,"score":0.41575154662132263},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3330806493759155},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33305293321609497},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.19050052762031555},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.15439316630363464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14036613702774048},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0835028886795044},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2023.3262707","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2023.3262707","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"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 Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8500000238418579}],"awards":[{"id":"https://openalex.org/G2211214599","display_name":"\u57fa\u4e8e\u6c34\u4e0b\u673a\u5668\u4eba\u7684\u6c34\u5e93\u5927\u575d\u667a\u80fd\u611f\u77e5\u4e0e\u5b89\u5168\u8bc4\u4ef7\u65b9\u6cd5","funder_award_id":"LZJWY22E090001","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"},{"id":"https://openalex.org/G4985206174","display_name":null,"funder_award_id":"GK209907299001-001","funder_id":"https://openalex.org/F4554350417","funder_display_name":"Fundamental Research Funds for the Provincial Universities of Zhejiang"},{"id":"https://openalex.org/G5536814102","display_name":null,"funder_award_id":"61871163","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6557060","display_name":"\u57fa\u4e8e\u591a\u6e90\u5f02\u6784\u611f\u77e5\u7684\u6c34\u4e0b\u673a\u5668\u4eba\u81ea\u4e3b\u534f\u540c\u7406\u8bba\u4e0e\u65b9\u6cd5","funder_award_id":"LZ22F010004","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"},{"id":"https://openalex.org/G674001026","display_name":null,"funder_award_id":"62271179","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"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4554350417","display_name":"Fundamental Research Funds for the Provincial Universities of Zhejiang","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1539157773","https://openalex.org/W2063686375","https://openalex.org/W2074823003","https://openalex.org/W2081030172","https://openalex.org/W2099388669","https://openalex.org/W2105625336","https://openalex.org/W2119120935","https://openalex.org/W2268056782","https://openalex.org/W2361517678","https://openalex.org/W2541042908","https://openalex.org/W2782570863","https://openalex.org/W2803156489","https://openalex.org/W2897326341","https://openalex.org/W2905164357","https://openalex.org/W2915931932","https://openalex.org/W2951292351","https://openalex.org/W2967042487","https://openalex.org/W3007886542","https://openalex.org/W3010996182","https://openalex.org/W3025221829","https://openalex.org/W3088733350","https://openalex.org/W3119182912","https://openalex.org/W3120436174","https://openalex.org/W3131290367","https://openalex.org/W3210191035","https://openalex.org/W3212472506","https://openalex.org/W4214897012","https://openalex.org/W4281739997","https://openalex.org/W6629804754"],"related_works":["https://openalex.org/W3081304190","https://openalex.org/W2477841276","https://openalex.org/W4225540233","https://openalex.org/W1989468614","https://openalex.org/W46613192","https://openalex.org/W2556643280","https://openalex.org/W4285703999","https://openalex.org/W2185568765","https://openalex.org/W2353494610","https://openalex.org/W3214188517"],"abstract_inverted_index":{"Autonomous":[0],"underwater":[1,58,94],"vehicle":[2],"(AUV)":[3],"system":[4],"has":[5,134],"played":[6],"an":[7],"important":[8],"role":[9],"in":[10,24,27,161],"complex":[11],"Internet":[12],"of":[13,36,57,67,81,92,158,181],"Underwater":[14],"Things":[15],"(IoUT).":[16],"As":[17],"we":[18],"know,":[19],"single":[20],"AUV":[21],"is":[22,109,117,152],"inefficient":[23],"collecting":[25],"data":[26],"large-scale":[28],"IoUT.":[29],"In":[30],"order":[31],"to":[32,47,119,137,154],"improve":[33],"the":[34,52,65,90,139,156,179],"timeliness":[35],"data,":[37],"this":[38,72,74],"article":[39,75],"uses":[40],"multiple":[41],"AUVs":[42,62,84],"with":[43,85,170],"specific":[44],"formation":[45,68,78,100,148,183],"shape":[46],"collect":[48],"sensory":[49],"data.":[50],"However,":[51],"intermittent":[53,140],"and":[54,111,131],"unreliable":[55,93],"characteristics":[56],"acoustic":[59,95],"communication":[60,141],"between":[61],"seriously":[63],"affects":[64],"performance":[66],"control.":[69],"To":[70],"solve":[71],"issue,":[73],"mainly":[76],"investigates":[77],"control":[79,101,184],"problem":[80],"leade\u2013follower":[82],"structured":[83],"state":[86],"prediction":[87,126],"estimation":[88],"under":[89],"condition":[91],"channel.":[96,142],"First,":[97],"a":[98,113,144,162],"novel":[99],"law":[102],"derived":[103],"from":[104],"backstepping":[105],"sliding":[106],"mode":[107],"method":[108],"proposed,":[110],"then,":[112],"suitable":[114],"Lyapunov":[115],"functional":[116],"constructed":[118],"prove":[120],"sufficient":[121],"stability":[122],"conditions.":[123],"Second,":[124],"Gaussian":[125],"model":[127,177],"considering":[128],"time":[129],"delay":[130],"packet":[132],"dropout":[133],"been":[135],"designed":[136],"estimate":[138],"Moreover,":[143],"new":[145],"metric":[146],"named":[147],"uniform":[149],"degree":[150,157],"(FUD)":[151],"proposed":[153,182],"measure":[155],"queue":[159],"uniformity":[160],"quantitative":[163],"manner.":[164],"Finally,":[165],"extensive":[166],"simulation":[167],"results":[168],"compared":[169],"traditional":[171],"methods":[172],"based":[173],"on":[174],"ideal":[175],"channel":[176],"demonstrate":[178],"effectiveness":[180],"method.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":23},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-13T07:31:44.756512","created_date":"2025-10-10T00:00:00"}