{"id":"https://openalex.org/W7133186092","doi":"https://doi.org/10.1109/tase.2026.3669656","title":"MPPI-DWIT: Robust Bearing-Only Target Tracking of Single AUV With Detection Sector Constraints","display_name":"MPPI-DWIT: Robust Bearing-Only Target Tracking of Single AUV With Detection Sector Constraints","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7133186092","doi":"https://doi.org/10.1109/tase.2026.3669656"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2026.3669656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3669656","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/A5032344767","display_name":"Shaoxiong Qiu","orcid":"https://orcid.org/0009-0007-0102-3457"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shaoxiong Qiu","raw_affiliation_strings":["Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0009-0007-0102-3457","affiliations":[{"raw_affiliation_string":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127836831","display_name":"Hongli Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongli Xu","raw_affiliation_strings":["Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0001-6766-7879","affiliations":[{"raw_affiliation_string":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100649296","display_name":"Junyi Wang","orcid":"https://orcid.org/0000-0002-3792-3920"},"institutions":[{"id":"https://openalex.org/I4210129465","display_name":"Wuhan Ship Development & Design Institute","ror":"https://ror.org/02mcdae06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210129465"]},{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junyi Wang","raw_affiliation_strings":["Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China","Wuhan Second Ship Design and Research Institute, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-3792-3920","affiliations":[{"raw_affiliation_string":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"Wuhan Second Ship Design and Research Institute, Wuhan, China","institution_ids":["https://openalex.org/I4210129465"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073338938","display_name":"Jingyu Ru","orcid":"https://orcid.org/0000-0002-9132-374X"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingyu Ru","raw_affiliation_strings":["Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-9132-374X","affiliations":[{"raw_affiliation_string":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Wenrui Zhang","orcid":"https://orcid.org/0000-0001-6874-3503"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenrui Zhang","raw_affiliation_strings":["Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0001-6874-3503","affiliations":[{"raw_affiliation_string":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5127806621","display_name":"Jia Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210129465","display_name":"Wuhan Ship Development & Design Institute","ror":"https://ror.org/02mcdae06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210129465"]},{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jia Wang","raw_affiliation_strings":["Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China","Wuhan Second Ship Design and Research Institute, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0007-2797-439X","affiliations":[{"raw_affiliation_string":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"Wuhan Second Ship Design and Research Institute, Wuhan, China","institution_ids":["https://openalex.org/I4210129465"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5032344767"],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35234409,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"6175","last_page":"6189"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.6467999815940857,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.6467999815940857,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.12030000239610672,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.11490000039339066,"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/observability","display_name":"Observability","score":0.9549000263214111},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7472000122070312},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5784000158309937},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5360999703407288},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4828999936580658},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.45649999380111694},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.45100000500679016},{"id":"https://openalex.org/keywords/state-vector","display_name":"State vector","score":0.43970000743865967}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.9549000263214111},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7472000122070312},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5784000158309937},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5360999703407288},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4828999936580658},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47620001435279846},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.45649999380111694},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.45100000500679016},{"id":"https://openalex.org/C2777798563","wikidata":"https://www.wikidata.org/wiki/Q7603916","display_name":"State vector","level":2,"score":0.43970000743865967},{"id":"https://openalex.org/C29406490","wikidata":"https://www.wikidata.org/wiki/Q1420659","display_name":"Fisher information","level":2,"score":0.4106999933719635},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40459999442100525},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.38839998841285706},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3869999945163727},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3756999969482422},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3711000084877014},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.3652999997138977},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.32760000228881836},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.30329999327659607},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2824000120162964},{"id":"https://openalex.org/C2780898871","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Performance metric","level":2,"score":0.2777999937534332},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.2712000012397766},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.2669999897480011},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.26499998569488525},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.2614000141620636},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2026.3669656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3669656","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":[],"awards":[{"id":"https://openalex.org/G4118145861","display_name":null,"funder_award_id":"62303099","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":79,"referenced_works":["https://openalex.org/W1966376714","https://openalex.org/W1973767288","https://openalex.org/W2038804617","https://openalex.org/W2126058202","https://openalex.org/W2492811885","https://openalex.org/W2776077248","https://openalex.org/W2782436561","https://openalex.org/W2792969186","https://openalex.org/W2810877249","https://openalex.org/W2895708683","https://openalex.org/W2920787115","https://openalex.org/W2961506846","https://openalex.org/W2963729305","https://openalex.org/W2966852417","https://openalex.org/W2968861119","https://openalex.org/W2974874801","https://openalex.org/W2978951642","https://openalex.org/W2995530603","https://openalex.org/W2995687286","https://openalex.org/W2998825565","https://openalex.org/W3000374284","https://openalex.org/W3039205832","https://openalex.org/W3088918212","https://openalex.org/W3113070793","https://openalex.org/W3126763268","https://openalex.org/W3139668817","https://openalex.org/W3159925672","https://openalex.org/W3186191935","https://openalex.org/W3197513923","https://openalex.org/W3217595763","https://openalex.org/W4200015668","https://openalex.org/W4206096884","https://openalex.org/W4220808849","https://openalex.org/W4224326238","https://openalex.org/W4225814850","https://openalex.org/W4285108207","https://openalex.org/W4285143430","https://openalex.org/W4285818829","https://openalex.org/W4289639903","https://openalex.org/W4292559983","https://openalex.org/W4304480790","https://openalex.org/W4312170095","https://openalex.org/W4312630776","https://openalex.org/W4312826859","https://openalex.org/W4315783921","https://openalex.org/W4319994073","https://openalex.org/W4360897380","https://openalex.org/W4362660036","https://openalex.org/W4364380197","https://openalex.org/W4385286939","https://openalex.org/W4385471189","https://openalex.org/W4386625884","https://openalex.org/W4390422151","https://openalex.org/W4390871384","https://openalex.org/W4392173075","https://openalex.org/W4392638773","https://openalex.org/W4394770855","https://openalex.org/W4396680642","https://openalex.org/W4399665807","https://openalex.org/W4400723159","https://openalex.org/W4401163789","https://openalex.org/W4401246749","https://openalex.org/W4401414618","https://openalex.org/W4401747067","https://openalex.org/W4402348827","https://openalex.org/W4402483539","https://openalex.org/W4402510378","https://openalex.org/W4403976351","https://openalex.org/W4404373548","https://openalex.org/W4404812354","https://openalex.org/W4405219507","https://openalex.org/W4405784906","https://openalex.org/W4405787439","https://openalex.org/W4406047022","https://openalex.org/W4406282566","https://openalex.org/W4406520997","https://openalex.org/W4409327173","https://openalex.org/W4410428175","https://openalex.org/W4411550727"],"related_works":[],"abstract_inverted_index":{"Continuous":[0],"underwater":[1],"bearing-only":[2,54],"target":[3,27,55,86],"tracking":[4,56,132,150,158],"with":[5,42,125],"limited":[6,58],"sensor":[7,59,101],"detection":[8,60,102],"sectors":[9,103],"presents":[10],"a":[11,95,130],"significant":[12],"challenge":[13,20],"for":[14],"Autonomous":[15],"Underwater":[16],"Vehicles":[17],"(AUVs).":[18],"This":[19,34],"arises":[21],"from":[22],"the":[23,37,51,74,83,120,126,142,162],"tight":[24],"coupling":[25],"between":[26],"state":[28,87],"estimation":[29,88,148],"and":[30,105,152,164],"AUV":[31,106,157],"trajectory":[32,90],"optimization.":[33],"paper":[35],"proposes":[36],"Model":[38],"Predictive":[39],"Path":[40],"Integral":[41],"Dynamic":[43],"Weight":[44],"Integration":[45],"Tracking":[46],"(MPPI-DWIT)":[47],"framework":[48,93],"to":[49,98,122,128],"solve":[50],"problem":[52],"of":[53,85,147,166],"under":[57],"sectors,":[61],"by":[62],"integrating":[63],"an":[64],"observability":[65,79,124],"metric":[66,80],"based":[67],"on":[68],"Fisher":[69],"Information":[70],"Matrix":[71],"(FIM)":[72],"into":[73],"MPPI":[75],"path":[76],"planner.":[77],"The":[78,92],"directly":[81],"improves":[82],"accuracy":[84],"during":[89],"sampling.":[91],"uses":[94],"hard-boundary":[96],"strategy":[97],"strictly":[99],"enforce":[100],"limits":[104],"maneuverability":[107],"constraints.":[108],"An":[109],"innovative":[110],"dynamic":[111],"weight":[112],"integration":[113],"mechanism":[114],"is":[115],"proposed,":[116],"which":[117],"automatically":[118],"balances":[119],"need":[121,127],"maximize":[123],"maintain":[129],"safe":[131],"distance.":[133],"Extensive":[134],"Monte":[135],"Carlo":[136],"simulations":[137],"show":[138],"that":[139],"MPPI-DWIT":[140],"outperforms":[141],"state-of-the-art":[143],"methods,":[144],"in":[145],"terms":[146],"accuracy,":[149],"times,":[151],"failure":[153],"rates.":[154],"Real-world":[155],"single":[156],"trials":[159],"further":[160],"confirm":[161],"effectiveness":[163],"robustness":[165],"MPPI-DWIT.":[167]},"counts_by_year":[],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2026-03-03T00:00:00"}