{"id":"https://openalex.org/W4411171648","doi":"https://doi.org/10.1109/tcst.2025.3572776","title":"Constraint-Driven Multi-USV Coverage Path Generation for Aquatic Environmental Monitoring","display_name":"Constraint-Driven Multi-USV Coverage Path Generation for Aquatic Environmental Monitoring","publication_year":2025,"publication_date":"2025-06-10","ids":{"openalex":"https://openalex.org/W4411171648","doi":"https://doi.org/10.1109/tcst.2025.3572776"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2025.3572776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2025.3572776","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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/A5107126000","display_name":"Yo Toyomoto","orcid":null},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"id":"https://openalex.org/I4400009020","display_name":"Institute of Science Tokyo","ror":"https://ror.org/05dqf9946","country_code":null,"type":"education","lineage":["https://openalex.org/I4400009020"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yo Toyomoto","raw_affiliation_strings":["School of Engineering, Institute of Science Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0001-7842-1791","affiliations":[{"raw_affiliation_string":"School of Engineering, Institute of Science Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I161296585","https://openalex.org/I4400009020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113961415","display_name":"Toshiyuki Oshima","orcid":"https://orcid.org/0009-0009-4657-824X"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"id":"https://openalex.org/I4400009020","display_name":"Institute of Science Tokyo","ror":"https://ror.org/05dqf9946","country_code":null,"type":"education","lineage":["https://openalex.org/I4400009020"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshiyuki Oshima","raw_affiliation_strings":["School of Engineering, Institute of Science Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0009-4657-824X","affiliations":[{"raw_affiliation_string":"School of Engineering, Institute of Science Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I161296585","https://openalex.org/I4400009020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114634930","display_name":"Kosei Oishi","orcid":null},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"id":"https://openalex.org/I4400009020","display_name":"Institute of Science Tokyo","ror":"https://ror.org/05dqf9946","country_code":null,"type":"education","lineage":["https://openalex.org/I4400009020"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kosei Oishi","raw_affiliation_strings":["School of Engineering, Institute of Science Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0001-5143-0399","affiliations":[{"raw_affiliation_string":"School of Engineering, Institute of Science Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I161296585","https://openalex.org/I4400009020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041094506","display_name":"J. M. Maestre","orcid":"https://orcid.org/0000-0002-4968-6811"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jos\u00e9 M. Maestre","raw_affiliation_strings":["Systems and Automation Engineering Department, University of Seville, Seville, Spain"],"raw_orcid":"https://orcid.org/0000-0002-4968-6811","affiliations":[{"raw_affiliation_string":"Systems and Automation Engineering Department, University of Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027693868","display_name":"Takeshi Hatanaka","orcid":"https://orcid.org/0000-0003-3143-121X"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"id":"https://openalex.org/I4400009020","display_name":"Institute of Science Tokyo","ror":"https://ror.org/05dqf9946","country_code":null,"type":"education","lineage":["https://openalex.org/I4400009020"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takeshi Hatanaka","raw_affiliation_strings":["School of Engineering, Institute of Science Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-3143-121X","affiliations":[{"raw_affiliation_string":"School of Engineering, Institute of Science Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I161296585","https://openalex.org/I4400009020"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.6592,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.93108235,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"33","issue":"6","first_page":"2037","last_page":"2051"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.998199999332428,"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":0.998199999332428,"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/T12697","display_name":"Water Quality Monitoring Technologies","score":0.9915000200271606,"subfield":{"id":"https://openalex.org/subfields/2312","display_name":"Water Science and Technology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.9886999726295471,"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/path","display_name":"Path (computing)","score":0.5937979221343994},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.56043541431427},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.5131857991218567},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44913047552108765},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19364935159683228},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.14705446362495422},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.06744623184204102}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5937979221343994},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.56043541431427},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.5131857991218567},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44913047552108765},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19364935159683228},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.14705446362495422},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.06744623184204102}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2025.3572776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2025.3572776","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land","score":0.5}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1967831540","https://openalex.org/W2072931689","https://openalex.org/W2093287782","https://openalex.org/W2119107271","https://openalex.org/W2122061813","https://openalex.org/W2143872920","https://openalex.org/W2148169893","https://openalex.org/W2148761022","https://openalex.org/W2158064904","https://openalex.org/W2167485994","https://openalex.org/W2171346623","https://openalex.org/W2560504659","https://openalex.org/W2579998546","https://openalex.org/W2741668511","https://openalex.org/W2781971957","https://openalex.org/W2811059270","https://openalex.org/W2890058332","https://openalex.org/W2898971174","https://openalex.org/W2950752390","https://openalex.org/W2956608979","https://openalex.org/W2985952865","https://openalex.org/W2987504971","https://openalex.org/W2997242810","https://openalex.org/W3026829485","https://openalex.org/W3133889439","https://openalex.org/W3134710221","https://openalex.org/W3154481026","https://openalex.org/W3168911603","https://openalex.org/W3186317065","https://openalex.org/W3208077644","https://openalex.org/W3211285939","https://openalex.org/W4205504030","https://openalex.org/W4205966556","https://openalex.org/W4280571816","https://openalex.org/W4292249799","https://openalex.org/W4308307404","https://openalex.org/W4312933109","https://openalex.org/W4313194221","https://openalex.org/W4322503516","https://openalex.org/W4380839102","https://openalex.org/W4382053067","https://openalex.org/W4383108399","https://openalex.org/W4385656165","https://openalex.org/W4388910031","https://openalex.org/W4388918908","https://openalex.org/W4391019924","https://openalex.org/W4391021431","https://openalex.org/W4393032624","https://openalex.org/W4398151526","https://openalex.org/W4402351040","https://openalex.org/W4402437024"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"In":[0],"this":[1,49],"article,":[2],"we":[3,17,51],"address":[4],"aquatic":[5,46],"environmental":[6],"monitoring":[7],"using":[8],"a":[9,55,62,88,93],"fleet":[10],"of":[11,64,70,77,153,161,180],"uncrewed":[12],"surface":[13],"vehicles":[14,66],"(USVs).":[15],"Specifically,":[16],"develop":[18],"an":[19,177],"online":[20,57,100],"path":[21,58,102,167],"generator":[22,103,168],"that":[23,36,92,128,137],"provides":[24],"either":[25],"circular":[26],"or":[27],"elliptic":[28],"paths":[29],"based":[30,73,107],"on":[31,74,108,176],"the":[32,37,41,68,75,84,109,117,126,130,138,147,158,162],"real-time":[33],"feedback":[34],"so":[35,91],"USVs":[38],"efficiently":[39],"sample":[40],"sensor":[42],"data":[43],"over":[44],"given":[45],"environment.":[47],"To":[48],"end,":[50],"begin":[52],"by":[53],"formulating":[54],"novel":[56],"generation":[59],"problem":[60],"for":[61],"group":[63],"Dubins":[65],"in":[67,113,125],"form":[69],"cost":[71,85],"minimization":[72,86],"formulation":[76],"persistent":[78],"coverage":[79,101,166],"control.":[80],"We":[81],"then":[82,105],"transform":[83],"into":[87],"constraint-based":[89,111,140],"specification":[90],"prescribed":[94],"performance":[95,118],"level":[96],"is":[97,104,133,169],"certified.":[98],"An":[99],"designed":[106],"so-called":[110],"control":[112],"order":[114],"to":[115,144,157],"meet":[116],"certificate":[119],"together":[120],"with":[121],"additional":[122],"constraints":[123],"inherent":[124],"parameters":[127],"specify":[129],"paths.":[131],"It":[132],"also":[134],"shown":[135],"there":[136],"present":[139,165],"approach":[141],"allows":[142],"one":[143],"drastically":[145],"reduce":[146],"computational":[148],"complexity":[149],"stemming":[150],"from":[151],"combinations":[152],"binary":[154],"variables":[155],"corresponding":[156],"turning":[159],"directions":[160],"USVs.":[163,182],"The":[164],"finally":[170],"demonstrated":[171],"through":[172],"simulations":[173],"and":[174],"experiments":[175],"original":[178],"testbed":[179],"multiple":[181]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-31T08:31:51.225901","created_date":"2025-10-10T00:00:00"}