{"id":"https://openalex.org/W3178222245","doi":"https://doi.org/10.1109/lra.2021.3095044","title":"A Kelvin Wake Avoidance Scheme for Autonomous Sailing Robots Based on Orientation-Restricted Dubins Path","display_name":"A Kelvin Wake Avoidance Scheme for Autonomous Sailing Robots Based on Orientation-Restricted Dubins Path","publication_year":2021,"publication_date":"2021-07-07","ids":{"openalex":"https://openalex.org/W3178222245","doi":"https://doi.org/10.1109/lra.2021.3095044","mag":"3178222245"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3095044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3095044","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5102722250","display_name":"Weimin Qi","orcid":"https://orcid.org/0000-0002-6899-3657"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weimin Qi","raw_affiliation_strings":["Shenzhen Institute of Artificial Intelligent and Robotics for Society (AIRS), Chinese University of Hong Kong, Shenzhen, Guangdong, China"],"raw_orcid":"https://orcid.org/0000-0002-6899-3657","affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligent and Robotics for Society (AIRS), Chinese University of Hong Kong, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022531515","display_name":"Qinbo Sun","orcid":"https://orcid.org/0000-0003-3165-1175"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinbo Sun","raw_affiliation_strings":["Shenzhen Institute of Artificial Intelligent and Robotics for Society (AIRS), Chinese University of Hong Kong, Shenzhen, Guangdong, China"],"raw_orcid":"https://orcid.org/0000-0003-3165-1175","affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligent and Robotics for Society (AIRS), Chinese University of Hong Kong, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037821700","display_name":"Xiaoqiang Ji","orcid":"https://orcid.org/0000-0002-8556-3579"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoqiang Ji","raw_affiliation_strings":["Shenzhen Institute of Artificial Intelligent and Robotics for Society (AIRS), Chinese University of Hong Kong, Shenzhen, Guangdong, China"],"raw_orcid":"https://orcid.org/0000-0002-8556-3579","affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligent and Robotics for Society (AIRS), Chinese University of Hong Kong, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065223969","display_name":"Yiwen Liang","orcid":"https://orcid.org/0000-0002-9490-3125"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiwen Liang","raw_affiliation_strings":["Shenzhen Institute of Artificial Intelligent and Robotics for Society (AIRS), Chinese University of Hong Kong, Shenzhen, Guangdong, China"],"raw_orcid":"https://orcid.org/0000-0002-9490-3125","affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligent and Robotics for Society (AIRS), Chinese University of Hong Kong, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012759752","display_name":"Zhongzhong Cao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongzhong Cao","raw_affiliation_strings":["Shenzhen Institute of Artificial Intelligent and Robotics for Society (AIRS), Chinese University of Hong Kong, Shenzhen, Guangdong, China"],"raw_orcid":"https://orcid.org/0000-0003-1219-8264","affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligent and Robotics for Society (AIRS), Chinese University of Hong Kong, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044361827","display_name":"Huihuan Qian","orcid":"https://orcid.org/0000-0001-8269-0882"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huihuan Qian","raw_affiliation_strings":["Shenzhen Institute of Artificial Intelligent and Robotics for Society (AIRS), Chinese University of Hong Kong, Shenzhen, Guangdong, China"],"raw_orcid":"https://orcid.org/0000-0001-8269-0882","affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligent and Robotics for Society (AIRS), Chinese University of Hong Kong, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210116924"],"apc_list":null,"apc_paid":null,"fwci":0.9039,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.72856298,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"7","issue":"4","first_page":"11585","last_page":"11592"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9959999918937683,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9919999837875366,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/wake","display_name":"Wake","score":0.6778150200843811},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6256958842277527},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5946670770645142},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5423494577407837},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.413139283657074},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39293110370635986},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.31735891103744507},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24962782859802246},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24442270398139954},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1848343312740326},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14461445808410645},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.06456062197685242},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.05041179060935974}],"concepts":[{"id":"https://openalex.org/C48939323","wikidata":"https://www.wikidata.org/wiki/Q294879","display_name":"Wake","level":2,"score":0.6778150200843811},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6256958842277527},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5946670770645142},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5423494577407837},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.413139283657074},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39293110370635986},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.31735891103744507},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24962782859802246},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24442270398139954},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1848343312740326},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14461445808410645},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.06456062197685242},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.05041179060935974},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3095044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3095044","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":[{"display_name":"Affordable and clean energy","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G7413195341","display_name":null,"funder_award_id":"KQJSCX20180330165912672","funder_id":"https://openalex.org/F4320326705","funder_display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality"}],"funders":[{"id":"https://openalex.org/F4320326705","display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1976448413","https://openalex.org/W1994187000","https://openalex.org/W2086297570","https://openalex.org/W2157167735","https://openalex.org/W2164821119","https://openalex.org/W2289587636","https://openalex.org/W2290239410","https://openalex.org/W2313274380","https://openalex.org/W2337723004","https://openalex.org/W2775115763","https://openalex.org/W2963849361","https://openalex.org/W2986605133","https://openalex.org/W3008330613","https://openalex.org/W3014059403","https://openalex.org/W3090912915","https://openalex.org/W3126283823","https://openalex.org/W3129935930","https://openalex.org/W4232460000","https://openalex.org/W4245018973","https://openalex.org/W6637722151","https://openalex.org/W6675973601","https://openalex.org/W6696748424","https://openalex.org/W6996728451"],"related_works":["https://openalex.org/W2757285599","https://openalex.org/W2376025146","https://openalex.org/W161151693","https://openalex.org/W2955635855","https://openalex.org/W3195741387","https://openalex.org/W4381570180","https://openalex.org/W4324257240","https://openalex.org/W2314669870","https://openalex.org/W2604916751","https://openalex.org/W2883444180"],"abstract_inverted_index":{"Sailboats":[0,45],"have":[1,84,103,202],"a":[2,67,89,115,127,131,142,231],"wide":[3],"range":[4,207,215,241],"of":[5,9,24,37,208,216,242],"applications":[6],"on":[7,88],"account":[8],"their":[10,41],"energy-saving,":[11],"environmentally":[12],"benign":[13],"and":[14,50,54,82,106,109,145,186,195,198,213,226],"low-noise":[15],"characteristics.":[16],"This":[17],"has":[18,160],"led":[19],"to":[20,34,94,113,125,129,133,192,230],"the":[21,35,63,139,165,169,190,199,205],"increasing":[22],"popularity":[23],"research":[25],"in":[26,71,118,184,210,219,244],"autonomous":[27],"sailing":[28],"robots,":[29],"with":[30],"concomitant":[31],"attention":[32],"paid":[33],"development":[36],"methods":[38],"that":[39,204],"ensure":[40],"safety":[42],"during":[43],"sailing.":[44],"are":[46,60,80,222],"affected":[47,61],"by":[48,51,62,66,91,224],"obstacles":[49],"nonlinear":[52],"aerodynamic":[53],"hydrodynamic":[55],"factors.":[56],"In":[57],"particular,":[58],"sailboats":[59,102],"wake":[64,135,140,144],"generated":[65],"moving":[68],"vessel,":[69],"which":[70,168],"this":[72,119],"letter":[73],"is":[74,176,182,247],"denoted":[75],"as":[76,141],"\u201cmoving":[77],"boat\u201d.":[78],"Wakes":[79],"swift":[81],"can":[83],"severe":[85],"adverse":[86],"effects":[87],"sailboat":[90,132,174,191],"causing":[92],"it":[93],"veer":[95],"off":[96],"course,":[97],"stall":[98],"or":[99],"capsize.":[100],"Moreover,":[101],"low":[104],"mobility":[105],"large":[107],"inertia":[108],"will":[110],"therefore":[111],"struggle":[112],"avoid":[114,193],"wake.":[116],"Thus,":[117],"letter,":[120],"we":[121],"describe":[122],"our":[123],"efforts":[124],"develop":[126],"method":[128,159,181,236],"enable":[130],"perform":[134],"avoidance.":[136],"We":[137],"model":[138],"Kelvin":[143,153],"generate":[146],"waypoints":[147],"for":[148,163,173],"an":[149],"orientation-restricted":[150],"Dubins":[151],"path-based":[152],"wake-avoidance":[154,180,235],"method.":[155],"A":[156],"V-stability-based":[157],"control":[158,175],"proven":[161],"suitable":[162],"generating":[164],"path,":[166],"after":[167],"desired":[170],"heading":[171],"angle":[172],"obtained.":[177],"The":[178,239],"resulting":[179],"verified":[183],"simulations":[185],"experiments.":[187],"It":[188],"enables":[189],"alongside":[194,211],"toward":[196,220,245],"wakes,":[197],"qualitative":[200],"results":[201],"revealed":[203],"maximum":[206,214,240],"roll":[209,243],"scenario":[212,221,246],"surge":[217],"acceleration":[218],"reduced":[223],"57.4%":[225],"23.4%,":[227],"respectively,":[228],"relative":[229],"situation":[232],"when":[233],"no":[234],"was":[237],"used.":[238],"acceptable.":[248]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}