{"id":"https://openalex.org/W2913711517","doi":"https://doi.org/10.1109/lra.2019.2896899","title":"Rendezvous Planning for Multiple AUVs With Mobile Charging Stations in Dynamic Currents","display_name":"Rendezvous Planning for Multiple AUVs With Mobile Charging Stations in Dynamic Currents","publication_year":2019,"publication_date":"2019-02-01","ids":{"openalex":"https://openalex.org/W2913711517","doi":"https://doi.org/10.1109/lra.2019.2896899","mag":"2913711517"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2896899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2896899","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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/A5041664687","display_name":"Bingxi Li","orcid":"https://orcid.org/0000-0002-9413-8849"},"institutions":[{"id":"https://openalex.org/I11957088","display_name":"Michigan Technological University","ror":"https://ror.org/0036rpn28","country_code":"US","type":"education","lineage":["https://openalex.org/I11957088"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Bingxi Li","raw_affiliation_strings":["Department of Mechanical Engineering-Engineering Mechanics, Michigan Technological University, Houghton, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering-Engineering Mechanics, Michigan Technological University, Houghton, MI, USA","institution_ids":["https://openalex.org/I11957088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040767950","display_name":"Brian R. Page","orcid":"https://orcid.org/0000-0002-3634-8944"},"institutions":[{"id":"https://openalex.org/I11957088","display_name":"Michigan Technological University","ror":"https://ror.org/0036rpn28","country_code":"US","type":"education","lineage":["https://openalex.org/I11957088"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian R. Page","raw_affiliation_strings":["Michigan Technological University, Houghton, MI, USA"],"affiliations":[{"raw_affiliation_string":"Michigan Technological University, Houghton, MI, USA","institution_ids":["https://openalex.org/I11957088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048320636","display_name":"John R. Hoffman","orcid":"https://orcid.org/0000-0002-2196-7961"},"institutions":[{"id":"https://openalex.org/I11957088","display_name":"Michigan Technological University","ror":"https://ror.org/0036rpn28","country_code":"US","type":"education","lineage":["https://openalex.org/I11957088"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Hoffman","raw_affiliation_strings":["Department of Mechanical Engineering-Engineering Mechanics, Michigan Technological University, Houghton, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering-Engineering Mechanics, Michigan Technological University, Houghton, MI, USA","institution_ids":["https://openalex.org/I11957088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028230181","display_name":"Barzin Moridian","orcid":"https://orcid.org/0000-0001-7806-9284"},"institutions":[{"id":"https://openalex.org/I11957088","display_name":"Michigan Technological University","ror":"https://ror.org/0036rpn28","country_code":"US","type":"education","lineage":["https://openalex.org/I11957088"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Barzin Moridian","raw_affiliation_strings":["Michigan Technological University, Houghton, MI, USA"],"affiliations":[{"raw_affiliation_string":"Michigan Technological University, Houghton, MI, USA","institution_ids":["https://openalex.org/I11957088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063519076","display_name":"Nina Mahmoudian","orcid":"https://orcid.org/0000-0002-3285-8234"},"institutions":[{"id":"https://openalex.org/I11957088","display_name":"Michigan Technological University","ror":"https://ror.org/0036rpn28","country_code":"US","type":"education","lineage":["https://openalex.org/I11957088"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nina Mahmoudian","raw_affiliation_strings":["Michigan Technological University, Houghton, MI, USA"],"affiliations":[{"raw_affiliation_string":"Michigan Technological University, Houghton, MI, USA","institution_ids":["https://openalex.org/I11957088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5041664687"],"corresponding_institution_ids":["https://openalex.org/I11957088"],"apc_list":null,"apc_paid":null,"fwci":4.1718,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.93364591,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"4","issue":"2","first_page":"1653","last_page":"1660"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9984999895095825,"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":0.9984999895095825,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11133","display_name":"UAV Applications and Optimization","score":0.9947999715805054,"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/rendezvous","display_name":"Rendezvous","score":0.6985712647438049},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6422122716903687},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5228667259216309},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5089683532714844},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4593863785266876},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.42343616485595703},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4058198630809784},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32458361983299255},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27750492095947266},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1631787121295929},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15800943970680237}],"concepts":[{"id":"https://openalex.org/C2779968344","wikidata":"https://www.wikidata.org/wiki/Q3932925","display_name":"Rendezvous","level":3,"score":0.6985712647438049},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6422122716903687},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5228667259216309},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5089683532714844},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4593863785266876},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.42343616485595703},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4058198630809784},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32458361983299255},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27750492095947266},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1631787121295929},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15800943970680237},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2019.2896899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2896899","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:digitalcommons.mtu.edu:mechanical-fp-1108","is_oa":false,"landing_page_url":"https://digitalcommons.mtu.edu/mechanical-fp/85","pdf_url":null,"source":{"id":"https://openalex.org/S4377196391","display_name":"Digital Commons - Michigan Tech (Michigan Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I11957088","host_organization_name":"Michigan Technological University","host_organization_lineage":["https://openalex.org/I11957088"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Department of Mechanical and Aerospace Engineering Publications","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.49000000953674316}],"awards":[{"id":"https://openalex.org/G4219109246","display_name":null,"funder_award_id":"N00014-15-1-2599","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G6768226238","display_name":null,"funder_award_id":"1453886","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1504761831","https://openalex.org/W1529489707","https://openalex.org/W1968631201","https://openalex.org/W2011193826","https://openalex.org/W2042986967","https://openalex.org/W2050084539","https://openalex.org/W2119248637","https://openalex.org/W2134798524","https://openalex.org/W2153439607","https://openalex.org/W2267184893","https://openalex.org/W2740891940","https://openalex.org/W2766330333","https://openalex.org/W2782161163","https://openalex.org/W2889851133","https://openalex.org/W2909521956","https://openalex.org/W2911061801","https://openalex.org/W6754854114"],"related_works":["https://openalex.org/W2057371520","https://openalex.org/W2183620364","https://openalex.org/W2542862126","https://openalex.org/W2807763113","https://openalex.org/W2030068303","https://openalex.org/W1521763702","https://openalex.org/W2245527669","https://openalex.org/W937816491","https://openalex.org/W2046042302","https://openalex.org/W2103825597"],"abstract_inverted_index":{"Operation":[0],"of":[1,58,63,82,99,196,210],"autonomous":[2],"underwater":[3,100],"vehicles":[4],"(AUVs)":[5],"in":[6,37,47,149,190],"large":[7,77],"spatiotemporal":[8],"missions":[9],"is":[10,72,129,139,152],"currently":[11],"challenged":[12],"by":[13],"onboard":[14],"energy":[15,39,64,186],"resources":[16],"requiring":[17],"manned":[18,204],"support.":[19],"With":[20],"current":[21],"methods,":[22],"AUVs":[23],"are":[24],"programmed":[25],"to":[26,28,56,66,68,80,109],"return":[27,67],"a":[29,35,105,132,143,155,160,203],"static":[30],"charging":[31,69,83,172],"station":[32],"based":[33],"on":[34],"threshold":[36],"their":[38],"level.":[40],"Although":[41],"this":[42],"approach":[43],"has":[44],"shown":[45],"success":[46,184],"extending":[48],"the":[49,95,168,178,208,211],"operational":[50],"life,":[51],"it":[52],"becomes":[53],"impractical":[54],"due":[55,79],"interruption":[57],"AUV":[59,117],"operation":[60],"and":[61,97,125,185,202],"loss":[62],"needed":[65],"station.":[70],"It":[71],"also":[73],"not":[74],"practical":[75],"for":[76,214],"networks":[78],"shortage":[81],"stations.":[84],"We":[85],"introduce":[86],"mobile":[87,111],"onsite":[88],"power":[89],"delivery,":[90],"which":[91,138],"will":[92],"fundamentally":[93],"change":[94],"range":[96],"duration":[98],"operations.":[101],"This":[102],"letter":[103],"presents":[104],"mission":[106,183],"planning":[107,157,179],"method":[108,180],"generate":[110],"charger":[112],"trajectories,":[113,118],"given":[114],"pre-defined":[115],"working":[116],"considering":[119],"environmental":[120],"constraints":[121],"such":[122],"as":[123,131],"currents":[124,151],"obstacles.":[126],"The":[127],"problem":[128,169],"formulated":[130],"multiple":[133,171],"generalized":[134],"traveling":[135,144],"salesman":[136,145],"problem,":[137],"then":[140],"transformed":[141],"into":[142],"problem.":[146],"Energy":[147],"cost":[148],"dynamic":[150],"integrated":[153],"with":[154],"path":[156],"algorithm":[158],"using":[159,193],"grid-based":[161],"environment":[162],"model.":[163],"A":[164],"scheduling":[165],"strategy":[166],"extends":[167],"over":[170],"cycles.":[173],"Simulation":[174],"results":[175],"show":[176],"that":[177],"significantly":[181],"improves":[182],"expenditure.":[187],"Field":[188],"experiments":[189],"Lake":[191],"Superior":[192],"two":[194],"types":[195],"AUVs,":[197],"an":[198],"unmanned":[199],"surface":[200],"vessel,":[201],"support":[205],"vessel":[206],"validate":[207],"feasibility":[209],"planned":[212],"trajectories":[213],"long-term":[215],"marine":[216],"missions.":[217]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}