{"id":"https://openalex.org/W2138332512","doi":"https://doi.org/10.1109/robot.2008.4543343","title":"A deliberative architecture for AUV control","display_name":"A deliberative architecture for AUV control","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2138332512","doi":"https://doi.org/10.1109/robot.2008.4543343","mag":"2138332512"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543343","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543343","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5110240336","display_name":"Conor McGann","orcid":null},"institutions":[{"id":"https://openalex.org/I1319261023","display_name":"Monterey Bay Aquarium Research Institute","ror":"https://ror.org/02nb3aq72","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1319261023"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Conor McGann","raw_affiliation_strings":["Monterey Bay Aquarium Research Institute, CA, USA","Monterey Bay Aquarium Res. Inst., Monterey, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Monterey Bay Aquarium Research Institute, CA, USA","institution_ids":["https://openalex.org/I1319261023"]},{"raw_affiliation_string":"Monterey Bay Aquarium Res. Inst., Monterey, CA","institution_ids":["https://openalex.org/I1319261023"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031499390","display_name":"Fr\u00e9d\u00e9ric Py","orcid":null},"institutions":[{"id":"https://openalex.org/I1319261023","display_name":"Monterey Bay Aquarium Research Institute","ror":"https://ror.org/02nb3aq72","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1319261023"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Frederic Py","raw_affiliation_strings":["Monterey Bay Aquarium Research Institute, CA, USA","Monterey Bay Aquarium Res. Inst., Monterey, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Monterey Bay Aquarium Research Institute, CA, USA","institution_ids":["https://openalex.org/I1319261023"]},{"raw_affiliation_string":"Monterey Bay Aquarium Res. Inst., Monterey, CA","institution_ids":["https://openalex.org/I1319261023"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104350406","display_name":"Kanna Rajan","orcid":null},"institutions":[{"id":"https://openalex.org/I1319261023","display_name":"Monterey Bay Aquarium Research Institute","ror":"https://ror.org/02nb3aq72","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1319261023"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kanna Rajan","raw_affiliation_strings":["Monterey Bay Aquarium Research Institute, CA, USA","Monterey Bay Aquarium Res. Inst., Monterey, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Monterey Bay Aquarium Research Institute, CA, USA","institution_ids":["https://openalex.org/I1319261023"]},{"raw_affiliation_string":"Monterey Bay Aquarium Res. Inst., Monterey, CA","institution_ids":["https://openalex.org/I1319261023"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103085507","display_name":"Hans Thomas","orcid":"https://orcid.org/0000-0003-4092-3662"},"institutions":[{"id":"https://openalex.org/I1319261023","display_name":"Monterey Bay Aquarium Research Institute","ror":"https://ror.org/02nb3aq72","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1319261023"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hans Thomas","raw_affiliation_strings":["Monterey Bay Aquarium Research Institute, CA, USA","Monterey Bay Aquarium Res. Inst., Monterey, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Monterey Bay Aquarium Research Institute, CA, USA","institution_ids":["https://openalex.org/I1319261023"]},{"raw_affiliation_string":"Monterey Bay Aquarium Res. Inst., Monterey, CA","institution_ids":["https://openalex.org/I1319261023"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029979572","display_name":"R. Henthorn","orcid":"https://orcid.org/0000-0003-2952-3924"},"institutions":[{"id":"https://openalex.org/I1319261023","display_name":"Monterey Bay Aquarium Research Institute","ror":"https://ror.org/02nb3aq72","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1319261023"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Richard Henthorn","raw_affiliation_strings":["Monterey Bay Aquarium Research Institute, CA, USA","Monterey Bay Aquarium Res. Inst., Monterey, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Monterey Bay Aquarium Research Institute, CA, USA","institution_ids":["https://openalex.org/I1319261023"]},{"raw_affiliation_string":"Monterey Bay Aquarium Res. Inst., Monterey, CA","institution_ids":["https://openalex.org/I1319261023"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111186623","display_name":"Rob McEwen","orcid":null},"institutions":[{"id":"https://openalex.org/I1319261023","display_name":"Monterey Bay Aquarium Research Institute","ror":"https://ror.org/02nb3aq72","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1319261023"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rob McEwen","raw_affiliation_strings":["Monterey Bay Aquarium Research Institute, CA, USA","Monterey Bay Aquarium Res. Inst., Monterey, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Monterey Bay Aquarium Research Institute, CA, USA","institution_ids":["https://openalex.org/I1319261023"]},{"raw_affiliation_string":"Monterey Bay Aquarium Res. Inst., Monterey, CA","institution_ids":["https://openalex.org/I1319261023"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1319261023"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":150,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1049","last_page":"1054"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.9988999962806702,"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"}},{"id":"https://openalex.org/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/architecture","display_name":"Architecture","score":0.724274754524231},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.6359195709228516},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6161933541297913},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5844370126724243},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.47347891330718994},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46863770484924316},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.4365502595901489},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.4256329834461212},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.37136703729629517},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3710329234600067},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3697965741157532},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3265310525894165},{"id":"https://openalex.org/keywords/computer-architecture","display_name":"Computer architecture","score":0.32554423809051514},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30294743180274963},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2898133397102356},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2450292706489563},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21950528025627136},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.1690414547920227},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09786903858184814}],"concepts":[{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.724274754524231},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.6359195709228516},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6161933541297913},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5844370126724243},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.47347891330718994},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46863770484924316},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.4365502595901489},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.4256329834461212},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.37136703729629517},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3710329234600067},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3697965741157532},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3265310525894165},{"id":"https://openalex.org/C118524514","wikidata":"https://www.wikidata.org/wiki/Q173212","display_name":"Computer architecture","level":1,"score":0.32554423809051514},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30294743180274963},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2898133397102356},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2450292706489563},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21950528025627136},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.1690414547920227},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09786903858184814},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2008.4543343","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543343","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.8199999928474426,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306079","display_name":"David and Lucile Packard Foundation","ror":"https://ror.org/032atxq54"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W202104474","https://openalex.org/W1526120366","https://openalex.org/W1527406961","https://openalex.org/W1536317771","https://openalex.org/W1560018233","https://openalex.org/W1595895163","https://openalex.org/W1699699942","https://openalex.org/W1969209835","https://openalex.org/W2001647158","https://openalex.org/W2016600127","https://openalex.org/W2028630964","https://openalex.org/W2030429010","https://openalex.org/W2049934619","https://openalex.org/W2097856935","https://openalex.org/W2130182605","https://openalex.org/W2153806629","https://openalex.org/W3006876808","https://openalex.org/W3094313722","https://openalex.org/W6608215232","https://openalex.org/W6631980828","https://openalex.org/W6633619393","https://openalex.org/W6784293319"],"related_works":["https://openalex.org/W2071768959","https://openalex.org/W4319442894","https://openalex.org/W2921408402","https://openalex.org/W4312767556","https://openalex.org/W2982615283","https://openalex.org/W2290286193","https://openalex.org/W4312370102","https://openalex.org/W4372267671","https://openalex.org/W2079693677","https://openalex.org/W4312756471"],"abstract_inverted_index":{"Autonomous":[0],"Underwater":[1],"Vehicles":[2],"(AUVs)":[3],"are":[4,26],"an":[5,68],"increasingly":[6],"important":[7],"tool":[8],"for":[9,48,56],"oceanographic":[10],"research":[11],"demonstrating":[12],"their":[13,54],"capabilities":[14],"to":[15,41,72],"sample":[16],"the":[17,86],"water":[18],"column":[19],"in":[20,93],"depths":[21],"far":[22],"beyond":[23],"what":[24],"humans":[25],"capable":[27],"of":[28,38,50,85],"visiting,":[29],"and":[30,34,59,91,95],"doing":[31],"so":[32],"routinely":[33],"cost-effectively.":[35],"However,":[36],"control":[37],"these":[39],"platforms":[40],"date":[42],"has":[43],"relied":[44],"on":[45],"fixed":[46],"sequences":[47],"execution":[49],"pre-planned":[51],"actions":[52],"limiting":[53],"effectiveness":[55],"measuring":[57],"dynamic":[58],"episodic":[60],"ocean":[61],"phenomenon.":[62],"In":[63],"this":[64,74],"paper":[65],"we":[66],"present":[67],"agent":[69],"architecture":[70,87],"developed":[71],"overcome":[73],"limitation":[75],"through":[76],"on-board":[77],"planning":[78],"using":[79],"Constraint-":[80],"based":[81],"Reasoning.":[82],"Preliminary":[83],"versions":[84],"have":[88],"been":[89],"integrated":[90],"tested":[92],"simulation":[94],"at":[96],"sea.":[97]},"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":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":17},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":12},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":16},{"year":2012,"cited_by_count":13}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
