{"id":"https://openalex.org/W4386234649","doi":"https://doi.org/10.1109/tase.2023.3245818","title":"Multi-AUV Formation Reconfiguration Obstacle Avoidance Algorithm Based on Affine Transformation and Improved Artificial Potential Field Under Ocean Currents Disturbance","display_name":"Multi-AUV Formation Reconfiguration Obstacle Avoidance Algorithm Based on Affine Transformation and Improved Artificial Potential Field Under Ocean Currents Disturbance","publication_year":2023,"publication_date":"2023-08-28","ids":{"openalex":"https://openalex.org/W4386234649","doi":"https://doi.org/10.1109/tase.2023.3245818"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3245818","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3245818","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","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/A5057177284","display_name":"Wen Pang","orcid":"https://orcid.org/0000-0002-2324-5452"},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen Pang","raw_affiliation_strings":["School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-2324-5452","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002059219","display_name":"Daqi Zhu","orcid":"https://orcid.org/0000-0001-7252-4952"},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daqi Zhu","raw_affiliation_strings":["School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-7252-4952","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019248683","display_name":"Changyin Sun","orcid":"https://orcid.org/0000-0001-9269-334X"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changyin Sun","raw_affiliation_strings":["School of Automation, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-9269-334X","affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.1709,"has_fulltext":false,"cited_by_count":83,"citation_normalized_percentile":{"value":0.9947375,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"21","issue":"2","first_page":"1469","last_page":"1487"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7086796164512634},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.7051175832748413},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.6869049668312073},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.6655769348144531},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.6582962870597839},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5369603037834167},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5212022066116333},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5184873342514038},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5169603228569031},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.49834752082824707},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.49315017461776733},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4536657929420471},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4101235270500183},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40292176604270935},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3260959982872009},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.262958288192749},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2526546120643616},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.17628711462020874},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12325853109359741},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0850900411605835},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.08408159017562866},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08110710978507996}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7086796164512634},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.7051175832748413},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.6869049668312073},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.6655769348144531},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.6582962870597839},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5369603037834167},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5212022066116333},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5184873342514038},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5169603228569031},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.49834752082824707},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.49315017461776733},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4536657929420471},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4101235270500183},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40292176604270935},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3260959982872009},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.262958288192749},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2526546120643616},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.17628711462020874},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12325853109359741},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0850900411605835},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.08408159017562866},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08110710978507996},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2023.3245818","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3245818","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8700000047683716}],"awards":[{"id":"https://openalex.org/G8038642947","display_name":null,"funder_award_id":"62033009","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W1969142081","https://openalex.org/W1970821253","https://openalex.org/W2016371469","https://openalex.org/W2023265378","https://openalex.org/W2031249287","https://openalex.org/W2036316876","https://openalex.org/W2070137281","https://openalex.org/W2074823003","https://openalex.org/W2082845025","https://openalex.org/W2100884961","https://openalex.org/W2112724282","https://openalex.org/W2119120935","https://openalex.org/W2123998235","https://openalex.org/W2130532917","https://openalex.org/W2143896563","https://openalex.org/W2344400972","https://openalex.org/W2400390729","https://openalex.org/W2524886531","https://openalex.org/W2624934338","https://openalex.org/W2627028395","https://openalex.org/W2759084312","https://openalex.org/W2779863693","https://openalex.org/W2789630537","https://openalex.org/W2794441019","https://openalex.org/W2799616674","https://openalex.org/W2886968733","https://openalex.org/W2889690238","https://openalex.org/W2904316432","https://openalex.org/W2911922016","https://openalex.org/W2953155798","https://openalex.org/W2966836819","https://openalex.org/W2971487583","https://openalex.org/W2981851219","https://openalex.org/W3005059110","https://openalex.org/W3007886542","https://openalex.org/W3009423519","https://openalex.org/W3010996182","https://openalex.org/W3013793781","https://openalex.org/W3034189725","https://openalex.org/W3035931270","https://openalex.org/W3039205832","https://openalex.org/W3045462839","https://openalex.org/W3087946581","https://openalex.org/W3096293306","https://openalex.org/W3101479266","https://openalex.org/W3107899479","https://openalex.org/W3113617473","https://openalex.org/W3131290367","https://openalex.org/W3184311107","https://openalex.org/W3195884369","https://openalex.org/W3200237136","https://openalex.org/W3205437448","https://openalex.org/W3208971937","https://openalex.org/W4285157563","https://openalex.org/W4293353513","https://openalex.org/W4313569221","https://openalex.org/W4319303010"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W3161745314","https://openalex.org/W2975575631","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2316051259"],"abstract_inverted_index":{"In":[0,311],"this":[1,265],"paper,":[2],"the":[3,14,35,58,64,70,76,87,97,135,146,177,188,216,225,228,232,235,243,250,270,294],"formation":[4,23,125,149,172,180,191,199,226,237,320,327],"obstacle":[5,26,77,93,152,192,200,229,244,321],"avoidance":[6,27,78,94,128,153,201,322],"problem":[7,147,189,295],"of":[8,16,63,69,73,81,104,110,148,179,190,255,296],"autonomous":[9],"underwater":[10,297],"vehicles":[11,163,168],"(AUVs)":[12],"under":[13,53],"disturbances":[15],"ocean":[17],"currents":[18],"is":[19,41,239,267,273,281],"studied.":[20],"A":[21,108],"variable":[22],"reconfiguration":[24,150],"and":[25,34,50,56,66,75,92,151,165,182,185,207,277,285,299],"control":[28,72,79,173,328],"scheme":[29],"based":[30,113],"on":[31,114,130,306],"affine":[32,204],"transform":[33],"improved":[36,208],"artificial":[37,209],"potential":[38,210],"field":[39,211],"(AT-IAPF)":[40],"designed,":[42],"which":[43],"enable":[44],"AUVs":[45,118],"to":[46,140,160,219,242,246,249,283,292,303],"avoid":[47,121],"both":[48],"static":[49],"dynamic":[51],"obstacles":[52,122],"external":[54],"interference,":[55],"maintain":[57],"desired":[59],"time-varying":[60,71],"formation.":[61],"Because":[62],"robustness":[65],"strong":[67],"effectiveness":[68],"AT":[74],"law":[80],"IAPF.":[82],"The":[83,170,252],"AT-IAPF":[84],"algorithm":[85],"improves":[86],"multi-AUV":[88,106],"systems\u2019":[89],"environmental":[90],"adaptability":[91],"performance.":[95],"Using":[96],"Lyapunov":[98],"function\u2019s":[99],"stability":[100,103],"constraint":[101],"guarantees":[102],"a":[105,197,221,278],"system.":[107],"series":[109],"simulation":[111],"results":[112],"MATLAB":[115],"verify":[116],"that":[117,264],"can":[119],"effectively":[120],"with":[123],"different":[124],"shapes.":[126],"Obstacle":[127],"experiments":[129,254,323,329],"bionic":[131,257,308],"robotic":[132],"fish":[133,259],"demonstrate":[134],"proposed":[136],"method\u2019s":[137],"feasibility.":[138],"Note":[139],"Practitioners\u2014This":[141],"paper":[142,195],"was":[143],"motivated":[144],"by":[145],"for":[154,224,275],"AUVs.":[155],"Still,":[156],"it":[157,289,300],"also":[158],"applies":[159],"unmanned":[161,166],"ground":[162],"(UGVs)":[164],"aerial":[167],"(UAVs).":[169],"existing":[171],"methods":[174],"usually":[175],"solve":[176,293],"problems":[178],"acquisition":[181],"time-invariant":[183],"maneuvering,":[184],"rarely":[186],"consider":[187],"avoidance.":[193],"This":[194],"presents":[196],"new":[198],"method":[202,218,266],"using":[203],"transformation":[205],"(AT)":[206],"(IAPF)":[212],"techniques.":[213],"We":[214],"use":[215],"IAPF":[217],"plan":[220],"possible":[222],"path":[223],"in":[227,260],"environment.":[230,251],"At":[231],"same":[233],"time,":[234],"appropriate":[236],"shape":[238],"selected":[240],"according":[241],"information":[245],"better":[247],"adapt":[248],"preliminary":[253],"two":[256],"robot":[258,309],"near-surface":[261],"positions":[262],"show":[263],"feasible.":[268],"During":[269],"experiment,":[271],"UWB":[272],"used":[274,282],"positioning,":[276],"Zigbee":[279],"module":[280],"communicate":[284],"transmit":[286],"data.":[287],"But":[288],"still":[290],"needs":[291],"communication,":[298],"has":[301],"yet":[302],"be":[304],"tested":[305],"multiple":[307,317],"fish.":[310],"future":[312],"studies,":[313],"we":[314],"will":[315],"conduct":[316],"actual":[318],"AUV":[319],"or":[324],"do":[325],"3D":[326],"underwater.":[330]},"counts_by_year":[{"year":2026,"cited_by_count":23},{"year":2025,"cited_by_count":43},{"year":2024,"cited_by_count":17}],"updated_date":"2026-07-25T15:57:00.446498","created_date":"2025-10-10T00:00:00"}
