{"id":"https://openalex.org/W4385251481","doi":"https://doi.org/10.1109/med59994.2023.10185835","title":"Control Barrier Function Based Visual Servoing for Underwater Vehicle Manipulator Systems under Operational Constraints","display_name":"Control Barrier Function Based Visual Servoing for Underwater Vehicle Manipulator Systems under Operational Constraints","publication_year":2023,"publication_date":"2023-06-26","ids":{"openalex":"https://openalex.org/W4385251481","doi":"https://doi.org/10.1109/med59994.2023.10185835"},"language":"en","primary_location":{"id":"doi:10.1109/med59994.2023.10185835","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med59994.2023.10185835","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 31st Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-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/A5057756552","display_name":"Shahab Heshmati-Alamdari","orcid":"https://orcid.org/0000-0001-9444-446X"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":true,"raw_author_name":"Shahab Heshmati-Alamdari","raw_affiliation_strings":["Aalborg University,Section of Automation & Control,Department of Electronic Systems,Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aalborg University,Section of Automation & Control,Department of Electronic Systems,Denmark","institution_ids":["https://openalex.org/I891191580"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041412987","display_name":"George C. Karras","orcid":"https://orcid.org/0000-0002-4045-4715"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"George C. Karras","raw_affiliation_strings":["ABB Corporate Research, Västerås,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ABB Corporate Research, Västerås,Sweden","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014762327","display_name":"Maryam Sharifi","orcid":"https://orcid.org/0000-0003-0525-7916"},"institutions":[{"id":"https://openalex.org/I145722265","display_name":"University of Thessaly","ror":"https://ror.org/04v4g9h31","country_code":"GR","type":"education","lineage":["https://openalex.org/I145722265"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Maryam Sharifi","raw_affiliation_strings":["University of Thessaly,Department of Informatics and Telecommunications,Lamia,Greece","Department of Informatics and Telecommunications, University of Thessaly, Lamia, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Thessaly,Department of Informatics and Telecommunications,Lamia,Greece","institution_ids":["https://openalex.org/I145722265"]},{"raw_affiliation_string":"Department of Informatics and Telecommunications, University of Thessaly, Lamia, Greece","institution_ids":["https://openalex.org/I145722265"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001119414","display_name":"George K. Fourlas","orcid":"https://orcid.org/0000-0002-8318-732X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"George K. Fourlas","raw_affiliation_strings":["ABB Corporate Research, Västerås,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ABB Corporate Research, Västerås,Sweden","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5057756552"],"corresponding_institution_ids":["https://openalex.org/I891191580"],"apc_list":null,"apc_paid":null,"fwci":0.7031,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.71754123,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"710","last_page":"715"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","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/T10531","display_name":"Advanced Vision and Imaging","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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9973999857902527,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9944999814033508,"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/visual-servoing","display_name":"Visual servoing","score":0.8476698994636536},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.808107852935791},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6400079131126404},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.563291609287262},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5583622455596924},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4236443042755127},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.4133853316307068},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39941123127937317},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37867897748947144},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36429110169410706},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3225230872631073}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8476698994636536},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.808107852935791},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6400079131126404},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.563291609287262},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5583622455596924},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4236443042755127},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.4133853316307068},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39941123127937317},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37867897748947144},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36429110169410706},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3225230872631073},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/med59994.2023.10185835","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med59994.2023.10185835","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 31st Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/dc5fdecb-8a1f-46c2-88b4-ea8e45243850","is_oa":false,"landing_page_url":"https://vbn.aau.dk/da/publications/dc5fdecb-8a1f-46c2-88b4-ea8e45243850","pdf_url":null,"source":{"id":"https://openalex.org/S4306401731","display_name":"VBN Forskningsportal (Aalborg Universitet)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I891191580","host_organization_name":"Aalborg University","host_organization_lineage":["https://openalex.org/I891191580"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Heshmati-Alamdari, S, Karras, G C, Sharifi, M & Fourlas, G K 2023, Control Barrier Function Based Visual Servoing for Underwater Vehicle Manipulator Systems under Operational Constraints. in 2023 31st Mediterranean Conference on Control and Automation, MED 2023. IEEE (Institute of Electrical and Electronics Engineers), Mediterranean Conference on Control and Automation. Proceedings, pp. 710-715, 31st Mediterranean Conference on Control and Automation, MED 2023, Limassol, Cyprus, 26/06/2023. https://doi.org/10.1109/MED59994.2023.10185835","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5699999928474426,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2051704810","https://openalex.org/W2071279196","https://openalex.org/W2072763216","https://openalex.org/W2082991751","https://openalex.org/W2084389377","https://openalex.org/W2090702686","https://openalex.org/W2106225107","https://openalex.org/W2111691855","https://openalex.org/W2127972053","https://openalex.org/W2132181428","https://openalex.org/W2167501464","https://openalex.org/W2216417111","https://openalex.org/W2336155359","https://openalex.org/W2560504659","https://openalex.org/W2609814547","https://openalex.org/W2808614814","https://openalex.org/W2901136733","https://openalex.org/W2927564896","https://openalex.org/W2963148914","https://openalex.org/W2963238138","https://openalex.org/W2963525569","https://openalex.org/W2968176657","https://openalex.org/W3022030198","https://openalex.org/W3034944244","https://openalex.org/W3090132180","https://openalex.org/W3092208644","https://openalex.org/W3175582667","https://openalex.org/W3207298423","https://openalex.org/W4285301303","https://openalex.org/W4286633827","https://openalex.org/W4312931565","https://openalex.org/W6756486208","https://openalex.org/W6848179480"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W1520171478","https://openalex.org/W2386520554","https://openalex.org/W3024380338","https://openalex.org/W4317830657","https://openalex.org/W2127866683","https://openalex.org/W2065095941","https://openalex.org/W110066474"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,109,182],"novel":[4],"control":[5,19,73,127,184],"strategy":[6,135,185],"for":[7,55,186],"image-based":[8],"visual":[9,53],"servoing":[10],"(IBVS)":[11],"of":[12,26,49,87,96,116,118,132,147,189],"underwater":[13,171],"vehicle":[14,40],"manipulator":[15,36],"systems":[16],"(UVMS)":[17],"using":[18],"barrier":[20],"functions":[21],"(CBFs)":[22],"to":[23,112,124,156],"handle":[24,168],"field":[25],"view":[27],"(FoV)":[28],"constraints":[29,66,92,154,178],"and":[30,39,64,77,89,93,145,152,175],"system\u2019s":[31,90],"operational":[32,91,153,177],"limitations":[33],"such":[34],"as":[35],"joint":[37],"limits":[38],"velocity":[41],"performances.":[42],"The":[43,130,160],"proposed":[44,106,134,165],"approach":[45,166],"combines":[46],"the":[47,68,80,85,97,105,114,119,126,133,148,164,169,176],"advantages":[48],"IBVS,":[50],"which":[51,59,83,121],"provides":[52],"feedback":[54],"control,":[56],"with":[57,79,102],"CBFs,":[58],"can":[60,167],"formally":[61],"enforce":[62],"visibility":[63,117],"safety":[65,146],"on":[67],"UVMS\u2019s":[69],"motion.":[70],"A":[71],"CBF-based":[72],"law":[74],"is":[75,122,136],"derived":[76],"integrated":[78],"IBVS":[81,158],"algorithm,":[82],"guarantees":[84],"satisfaction":[86],"FoV":[88,103,110,151],"ensure":[94],"stability":[95],"closed-loop":[98],"system.":[99],"To":[100],"deal":[101],"constraints,":[104],"method":[107],"uses":[108],"index":[111],"estimate":[113],"degree":[115],"scene,":[120],"used":[123],"adjust":[125],"inputs":[128],"accordingly.":[129],"effectiveness":[131],"demonstrated":[137],"through":[138],"realistic":[139],"simulation":[140],"results,":[141],"showing":[142],"improved":[143],"performance":[144],"UVMS":[149,173],"under":[150],"compared":[155],"traditional":[157],"methods.":[159],"results":[161],"indicate":[162],"that":[163],"challenging":[170],"environment,":[172],"dynamics":[174],"effectively,":[179],"making":[180],"it":[181],"valuable":[183],"practical":[187],"applications":[188],"UVMS.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5}],"updated_date":"2026-05-04T08:30:34.212998","created_date":"2025-10-10T00:00:00"}