{"id":"https://openalex.org/W4404132892","doi":"https://doi.org/10.1109/lra.2024.3494663","title":"An Improved Motion Strategy With Uncertainty Perception for the Underwater Robot Based on Thrust Allocation Model","display_name":"An Improved Motion Strategy With Uncertainty Perception for the Underwater Robot Based on Thrust Allocation Model","publication_year":2024,"publication_date":"2024-11-07","ids":{"openalex":"https://openalex.org/W4404132892","doi":"https://doi.org/10.1109/lra.2024.3494663"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3494663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3494663","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/A5100359726","display_name":"Ao Li","orcid":"https://orcid.org/0000-0001-7391-3749"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ao Li","raw_affiliation_strings":["Aerospace Center Hospital, School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7391-3749","affiliations":[{"raw_affiliation_string":"Aerospace Center Hospital, School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100611041","display_name":"Shuxiang Guo","orcid":"https://orcid.org/0000-0002-0607-9798"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuxiang Guo","raw_affiliation_strings":["Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, Guangdong, China"],"raw_orcid":"https://orcid.org/0000-0002-0607-9798","affiliations":[{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107143448","display_name":"Chunying Li","orcid":"https://orcid.org/0000-0002-8795-9200"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunying Li","raw_affiliation_strings":["Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, Guangdong, China"],"raw_orcid":"https://orcid.org/0000-0002-8795-9200","affiliations":[{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0835,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.8580569,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"10","issue":"1","first_page":"64","last_page":"71"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9944000244140625,"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":0.9944000244140625,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.953499972820282,"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"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9424999952316284,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.7052885293960571},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6973171234130859},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5742490291595459},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5459293127059937},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4892551898956299},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48123621940612793},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.425667941570282},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3560980558395386},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2555735111236572},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23565474152565002},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.2220568060874939},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2121913731098175},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.09745281934738159},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.04434266686439514}],"concepts":[{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.7052885293960571},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6973171234130859},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5742490291595459},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5459293127059937},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4892551898956299},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48123621940612793},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.425667941570282},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3560980558395386},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2555735111236572},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23565474152565002},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.2220568060874939},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2121913731098175},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.09745281934738159},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.04434266686439514}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3494663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3494663","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":"Life below water","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2293043513","https://openalex.org/W2521299427","https://openalex.org/W2978951642","https://openalex.org/W2979280753","https://openalex.org/W3035009346","https://openalex.org/W3035984626","https://openalex.org/W3098702522","https://openalex.org/W3158991709","https://openalex.org/W3207208096","https://openalex.org/W3215943292","https://openalex.org/W4205185877","https://openalex.org/W4225631997","https://openalex.org/W4293842373","https://openalex.org/W4295539457","https://openalex.org/W4295873064","https://openalex.org/W4306175819","https://openalex.org/W4311715876","https://openalex.org/W4311842855","https://openalex.org/W4312863210","https://openalex.org/W4312933109","https://openalex.org/W4321460190","https://openalex.org/W4322504491","https://openalex.org/W4322576931","https://openalex.org/W4388878547","https://openalex.org/W4389685124"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W1999583034","https://openalex.org/W3217214504","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W2953138830","https://openalex.org/W2773822314","https://openalex.org/W3176162126","https://openalex.org/W2891537746","https://openalex.org/W2997463204"],"abstract_inverted_index":{"With":[0],"the":[1,7,10,25,44,49,70,88,105,124,146,150,154],"increasing":[2],"research":[3,8],"on":[4,9,43,48,87,153],"underwater":[5,18,26,60,82,109],"robots,":[6],"stable":[11],"motion":[12,73,78,126],"mode":[13],"and":[14,24,41,103,115,132],"control":[15,79,127],"strategy":[16,80,93,128,152],"of":[17,38,46,81,108,123,134,149],"robots":[19],"that":[20,65],"consider":[21],"practical":[22,114],"constraints":[23,107],"disturbance":[27,47,99,117],"from":[28],"complex":[29,71],"environment":[30],"is":[31,35,62,84,119,136],"still":[32],"immature.":[33],"There":[34],"a":[36,54,77,112],"lack":[37],"quantitative":[39],"analysis":[40],"comparison":[42],"effect":[45],"controller.":[50],"In":[51,140],"this":[52,142],"letter,":[53],"thrust":[55,89],"allocation":[56,90],"model":[57,118],"suitable":[58],"for":[59,159],"robot":[61,83],"established,":[63],"so":[64],"it":[66],"can":[67],"adapt":[68],"to":[69],"three-dimensional":[72],"in":[74,138],"Marine.":[75],"Then,":[76],"proposed":[85,125,151],"based":[86],"method.":[91],"This":[92],"includes":[94],"an":[95],"improved":[96],"linear":[97],"active":[98],"rejection":[100],"controller":[101,160],"(LADRC)":[102],"considers":[104],"propeller":[106],"robots.":[110],"Finally,":[111],"more":[113],"comprehensive":[116],"established.":[120],"The":[121],"performance":[122],"under":[129],"different":[130],"types":[131],"intensities":[133],"disturbances":[135],"analyzed":[137],"detail.":[139],"addition,":[141],"letter":[143],"also":[144],"analyzes":[145],"influence":[147],"mechanism":[148],"performance,":[155],"which":[156],"provides":[157],"reference":[158],"design.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
