{"id":"https://openalex.org/W4417438689","doi":"https://doi.org/10.1109/jiot.2025.3644919","title":"Simultaneous Target Tracking for Multiple Underwater Robots With Certified Safety by Using Recurrent Neural Network","display_name":"Simultaneous Target Tracking for Multiple Underwater Robots With Certified Safety by Using Recurrent Neural Network","publication_year":2025,"publication_date":"2025-12-17","ids":{"openalex":"https://openalex.org/W4417438689","doi":"https://doi.org/10.1109/jiot.2025.3644919"},"language":null,"primary_location":{"id":"doi:10.1109/jiot.2025.3644919","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3644919","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/A5101794545","display_name":"Dongsheng Guo","orcid":"https://orcid.org/0000-0002-1700-1996"},"institutions":[{"id":"https://openalex.org/I20942203","display_name":"Hainan University","ror":"https://ror.org/03q648j11","country_code":"CN","type":"education","lineage":["https://openalex.org/I20942203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongsheng Guo","raw_affiliation_strings":["School of Information and Communication Engineering, Hainan University, Haikou, Hainan, China"],"raw_orcid":"https://orcid.org/0000-0002-1700-1996","affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, Hainan University, Haikou, Hainan, China","institution_ids":["https://openalex.org/I20942203"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yanglin Shen","orcid":"https://orcid.org/0009-0004-9421-3898"},"institutions":[{"id":"https://openalex.org/I20942203","display_name":"Hainan University","ror":"https://ror.org/03q648j11","country_code":"CN","type":"education","lineage":["https://openalex.org/I20942203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanglin Shen","raw_affiliation_strings":["School of Information and Communication Engineering, Hainan University, Haikou, Hainan, China"],"raw_orcid":"https://orcid.org/0009-0004-9421-3898","affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, Hainan University, Haikou, Hainan, China","institution_ids":["https://openalex.org/I20942203"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jifan Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I20942203","display_name":"Hainan University","ror":"https://ror.org/03q648j11","country_code":"CN","type":"education","lineage":["https://openalex.org/I20942203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jifan Yang","raw_affiliation_strings":["School of Information and Communication Engineering, Hainan University, Haikou, Hainan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, Hainan University, Haikou, Hainan, China","institution_ids":["https://openalex.org/I20942203"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060714692","display_name":"Naimeng Cang","orcid":"https://orcid.org/0000-0003-2024-3897"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Naimeng Cang","raw_affiliation_strings":["Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences, Hangzhou, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001796838","display_name":"Shuai Li","orcid":"https://orcid.org/0000-0002-9574-9609"},"institutions":[{"id":"https://openalex.org/I98381234","display_name":"University of Oulu","ror":"https://ror.org/03yj89h83","country_code":"FI","type":"education","lineage":["https://openalex.org/I98381234"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Shuai Li","raw_affiliation_strings":["Faculty of Information Technology and Electrical Engineering, University of Oulu, Oulu, Finland"],"raw_orcid":"https://orcid.org/0000-0002-9574-9609","affiliations":[{"raw_affiliation_string":"Faculty of Information Technology and Electrical Engineering, University of Oulu, Oulu, Finland","institution_ids":["https://openalex.org/I98381234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046390329","display_name":"Leopoldo Angrisani","orcid":"https://orcid.org/0000-0001-6932-6891"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Leopoldo Angrisani","raw_affiliation_strings":["Department of Information Technology and Electrical Engineering, University of Naples Federico II, Naples, Italy"],"raw_orcid":"https://orcid.org/0000-0001-6932-6891","affiliations":[{"raw_affiliation_string":"Department of Information Technology and Electrical Engineering, University of Naples Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":0.4888,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.66690098,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"13","issue":"6","first_page":"11691","last_page":"11701"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.7681000232696533,"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":0.7681000232696533,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.08009999990463257,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.03519999980926514,"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/underwater","display_name":"Underwater","score":0.7146000266075134},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6340000033378601},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5620999932289124},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5611000061035156},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5123000144958496},{"id":"https://openalex.org/keywords/certification","display_name":"Certification","score":0.4309000074863434},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4293000102043152},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4142000079154968}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7171000242233276},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7146000266075134},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6340000033378601},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5620999932289124},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5611000061035156},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5123000144958496},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.450300008058548},{"id":"https://openalex.org/C46304622","wikidata":"https://www.wikidata.org/wiki/Q374814","display_name":"Certification","level":2,"score":0.4309000074863434},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4293000102043152},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4142000079154968},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.41110000014305115},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4088999927043915},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4056999981403351},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38989999890327454},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.3885999917984009},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.37450000643730164},{"id":"https://openalex.org/C169111936","wikidata":"https://www.wikidata.org/wiki/Q424098","display_name":"Underwater acoustic communication","level":3,"score":0.36079999804496765},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.35260000824928284},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3483999967575073},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.34220001101493835},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3084000051021576},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.29010000824928284},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.275299996137619},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.250900000333786}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2025.3644919","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3644919","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":[],"awards":[{"id":"https://openalex.org/G1348177293","display_name":null,"funder_award_id":"62463004","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7700978291","display_name":null,"funder_award_id":"KYQD(ZR)23025","funder_id":"https://openalex.org/F4320329228","funder_display_name":"Science Research Foundation of Xijing University"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320329228","display_name":"Science Research Foundation of Xijing University","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W2004190302","https://openalex.org/W2035411978","https://openalex.org/W2052659746","https://openalex.org/W2113023534","https://openalex.org/W2118051273","https://openalex.org/W2125183331","https://openalex.org/W2134533006","https://openalex.org/W2177274602","https://openalex.org/W2187354779","https://openalex.org/W2461374934","https://openalex.org/W2541758689","https://openalex.org/W2778083011","https://openalex.org/W2896660877","https://openalex.org/W2904770409","https://openalex.org/W2922032008","https://openalex.org/W2978371710","https://openalex.org/W3159355040","https://openalex.org/W3204605440","https://openalex.org/W4309156255","https://openalex.org/W4388855934","https://openalex.org/W4390823897","https://openalex.org/W4392110464","https://openalex.org/W4392637492","https://openalex.org/W4393033207","https://openalex.org/W4394776334","https://openalex.org/W4399526965","https://openalex.org/W4403826457","https://openalex.org/W4404436210","https://openalex.org/W4405784906"],"related_works":[],"abstract_inverted_index":{"The":[0],"trajectory":[1],"planning":[2,30],"problem":[3],"is":[4,89,98,113],"a":[5,17,74,92,109],"key":[6],"aspect":[7],"of":[8,58,76,134],"underwater":[9,19,33,42,103,146],"robot":[10,20],"operations.":[11],"Most":[12],"existing":[13],"studies":[14],"focus":[15],"on":[16,27],"single":[18],"and":[21,68,78,132,167],"environmental":[22],"obstacles,":[23],"with":[24,105],"limited":[25],"research":[26],"collision":[28,66,166],"avoidance":[29],"among":[31],"multiple":[32,41,102,145],"robots.":[34],"This":[35],"paper":[36],"addresses":[37],"these":[38,83],"issues":[39],"for":[40,101],"robots":[43,104,147],"by":[44,116],"performing":[45],"the":[46,56,59,63,85,118,130,135,144,149,155,161,173],"simultaneous":[47],"target":[48],"tracking":[49,174],"(STT)":[50],"from":[51],"an":[52],"optimization":[53],"perspective.":[54],"On":[55],"basis":[57],"neurodynamic":[60],"design":[61],"method,":[62],"path":[64],"tracking,":[65],"avoidance,":[67],"communication":[69,170],"maintenance":[70],"are":[71,125],"formulated":[72],"as":[73,91],"series":[75],"inequality":[77],"equality":[79],"constraints.":[80],"By":[81],"incorporating":[82],"constraints,":[84],"STT":[86,111,138,151],"scheme,":[87],"which":[88],"depicted":[90],"unified":[93],"quadratic":[94],"program":[95],"(QP)":[96],"framework,":[97],"thus":[99],"established":[100],"certified":[106],"safety.":[107],"Such":[108],"QP-type":[110,137],"scheme":[112,152],"then":[114],"solved":[115],"using":[117],"Lagrangian-based":[119],"recurrent":[120],"neural":[121],"network.":[122],"Computer":[123],"simulations":[124],"performed":[126],"to":[127,164],"further":[128],"verify":[129],"effectiveness":[131],"feasibility":[133],"proposed":[136,150],"scheme.":[139],"These":[140],"results":[141],"indicate":[142],"that":[143],"via":[148],"can":[153],"accomplish":[154],"assigned":[156],"target-tracking":[157],"tasks":[158],"while":[159],"maintaining":[160],"safe":[162],"distance":[163],"avoid":[165],"staying":[168],"within":[169],"range":[171],"throughout":[172],"mission.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-12-17T00:00:00"}