{"id":"https://openalex.org/W2995525702","doi":"https://doi.org/10.1109/lra.2019.2958774","title":"Single-Hydrophone Low-Cost Underwater Vehicle Swarming","display_name":"Single-Hydrophone Low-Cost Underwater Vehicle Swarming","publication_year":2019,"publication_date":"2019-12-09","ids":{"openalex":"https://openalex.org/W2995525702","doi":"https://doi.org/10.1109/lra.2019.2958774","mag":"2995525702"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2958774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2958774","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/A5006721865","display_name":"Erin M. Fischell","orcid":"https://orcid.org/0000-0001-9267-179X"},"institutions":[{"id":"https://openalex.org/I66958751","display_name":"Woods Hole Oceanographic Institution","ror":"https://ror.org/03zbnzt98","country_code":"US","type":"funder","lineage":["https://openalex.org/I66958751"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Erin Marie Fischell","raw_affiliation_strings":["Applied Physics and Engineering Department, Woods Hole Oceanographic Institution, Woods Hole, USA"],"affiliations":[{"raw_affiliation_string":"Applied Physics and Engineering Department, Woods Hole Oceanographic Institution, Woods Hole, USA","institution_ids":["https://openalex.org/I66958751"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045955664","display_name":"Anne R. Kroo","orcid":"https://orcid.org/0000-0002-4267-819X"},"institutions":[{"id":"https://openalex.org/I137428128","display_name":"Franklin W. Olin College of Engineering","ror":"https://ror.org/000zamq06","country_code":"US","type":"education","lineage":["https://openalex.org/I137428128"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anne R. Kroo","raw_affiliation_strings":["Olin College of Engineering, Needham, USA"],"affiliations":[{"raw_affiliation_string":"Olin College of Engineering, Needham, USA","institution_ids":["https://openalex.org/I137428128"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072352828","display_name":"Brendan W. O\u2019Neill","orcid":"https://orcid.org/0000-0003-2491-4571"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I66958751","display_name":"Woods Hole Oceanographic Institution","ror":"https://ror.org/03zbnzt98","country_code":"US","type":"funder","lineage":["https://openalex.org/I66958751"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brendan W. O'Neill","raw_affiliation_strings":["Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, USA","Applied Physics and Engineering Department, Woods Hole Oceanographic Institution, Woods Hole, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Applied Physics and Engineering Department, Woods Hole Oceanographic Institution, Woods Hole, USA","institution_ids":["https://openalex.org/I66958751"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5006721865"],"corresponding_institution_ids":["https://openalex.org/I66958751"],"apc_list":null,"apc_paid":null,"fwci":3.7327,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.92687993,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"5","issue":"2","first_page":"354","last_page":"361"},"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/T11698","display_name":"Underwater Acoustics Research","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.6132340431213379},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5850369930267334},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5335588455200195},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.49999094009399414},{"id":"https://openalex.org/keywords/beacon","display_name":"Beacon","score":0.48994916677474976},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.47342780232429504},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.4586934447288513},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4224301874637604},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.41202062368392944},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40140500664711},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3463171720504761},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.23667973279953003},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10411950945854187}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6132340431213379},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5850369930267334},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5335588455200195},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.49999094009399414},{"id":"https://openalex.org/C102168758","wikidata":"https://www.wikidata.org/wiki/Q7321258","display_name":"Beacon","level":2,"score":0.48994916677474976},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.47342780232429504},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.4586934447288513},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4224301874637604},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.41202062368392944},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40140500664711},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3463171720504761},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.23667973279953003},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10411950945854187},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2019.2958774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2958774","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.75}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1479732228","https://openalex.org/W1537918183","https://openalex.org/W1542975808","https://openalex.org/W1603426217","https://openalex.org/W1956033670","https://openalex.org/W1968022088","https://openalex.org/W1973573057","https://openalex.org/W1999068028","https://openalex.org/W2020710925","https://openalex.org/W2028250199","https://openalex.org/W2055085993","https://openalex.org/W2059814439","https://openalex.org/W2060572274","https://openalex.org/W2063462193","https://openalex.org/W2077248142","https://openalex.org/W2097272968","https://openalex.org/W2106353989","https://openalex.org/W2110526347","https://openalex.org/W2114460660","https://openalex.org/W2115478506","https://openalex.org/W2142371149","https://openalex.org/W2143872920","https://openalex.org/W2148036654","https://openalex.org/W2150726124","https://openalex.org/W2152759373","https://openalex.org/W2170984917","https://openalex.org/W2288492694","https://openalex.org/W2400488166","https://openalex.org/W2737462832","https://openalex.org/W2800318377","https://openalex.org/W2886401384","https://openalex.org/W2911415904","https://openalex.org/W2912673158","https://openalex.org/W2933731403","https://openalex.org/W3023908856","https://openalex.org/W4213364546","https://openalex.org/W4233414329"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W2059768187","https://openalex.org/W4247925126","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W2034981131","https://openalex.org/W4389489226","https://openalex.org/W1976832864","https://openalex.org/W2697274658","https://openalex.org/W2565967698"],"abstract_inverted_index":{"Swarms":[0],"of":[1,27,49,54,61,101,103,112,128,134,200,240],"robots":[2],"are":[3,29],"starting":[4],"to":[5,31,42,147],"appear":[6],"in":[7,34,56,66,76,150,221],"aerial":[8],"and":[9,72,141,175,216,233],"ground":[10],"robotics":[11],"across":[12],"multiple":[13],"operational":[14,118],"domains:":[15],"be":[16,32],"it":[17],"for":[18,46,107,182],"search-and-rescue":[19],"mapping,":[20],"or":[21,87,109],"Olympic":[22],"light":[23,55],"shows,":[24],"controlled":[25],"groups":[26],"drones":[28],"able":[30],"coordinated":[33],"groups.":[35],"This":[36,160],"capability":[37],"does":[38],"not":[39],"currently":[40],"extend":[41],"the":[43,52,70,110,117,126,226],"underwater":[44,80,135,168],"domain,":[45],"a":[47,122,139,155,163,188,194,204,241],"reason":[48],"basic":[50],"physics:":[51],"attenuation":[53],"water":[57],"is":[58,84,121,231,245],"10":[59],"orders":[60],"magnitude":[62],"greater":[63],"than":[64],"that":[65,98,144,165],"air,":[67],"rendering":[68],"ineffective":[69],"navigation":[71,83,95,140,179,192],"communication":[73,142],"technologies":[74],"used":[75],"terrestrial":[77],"robotics.":[78],"Autonomous":[79],"vehicle":[81],"(AUV)":[82],"either":[85],"expensive":[86],"unwieldy,":[88],"requiring":[89],"high-power":[90],"sensors":[91,96],"such":[92],"as":[93],"inertial":[94],"(INS)":[97],"cost":[99],"hundreds":[100],"thousands":[102],"dollars,":[104],"frequent":[105],"surfacing":[106],"GPS,":[108],"deployment":[111],"geo-located":[113],"acoustic":[114,178,207],"beacons,":[115],"limiting":[116],"area":[119,152],"which":[120],"severe":[123],"constraint":[124],"given":[125],"scale":[127],"oceanographic":[129],"sensing.":[130],"To":[131],"do":[132],"swarms":[133],"vehicles":[136,146],"will":[137],"require":[138],"scheme":[143],"allows":[145],"remain":[148],"together":[149],"an":[151],"while":[153],"prosecuting":[154],"mission":[156],"without":[157,180],"these":[158],"constraints.":[159],"paper":[161],"suggests":[162],"system":[164,244],"would":[166],"make":[167],"swarming":[169],"possible":[170],"by":[171],"using":[172,218],"singletransducer,":[173],"Doppler-based":[174],"multi-frequency":[176,195],"attenuation-based":[177],"time-synchronization":[181],"multi-vehicle":[183],"swarming.":[184],"In":[185,223],"this":[186,224,229],"solution,":[187],"leader":[189],"with":[190,203],"good":[191],"carries":[193],"sound":[196],"source.":[197],"Scalable":[198],"numbers":[199],"followers":[201],"equipped":[202],"custom":[205],"low-cost":[206,243],"package":[208],"then":[209],"adapt":[210],"heading":[211],"based":[212],"on":[213],"Doppler-shifted":[214],"frequency":[215],"range":[217],"multifrequency":[219],"difference":[220],"absorption.":[222],"paper,":[225],"theory":[227],"behind":[228],"technique":[230],"presented":[232],"tested":[234],"under":[235],"different":[236],"simulation":[237],"conditions.":[238],"Design":[239],"prototype":[242],"also":[246],"described.":[247]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
