{"id":"https://openalex.org/W4414007987","doi":"https://doi.org/10.1109/tcst.2025.3593237","title":"Safe Autonomy for Uncrewed Surface Vehicles Using Adaptive Control and Reachability Analysis","display_name":"Safe Autonomy for Uncrewed Surface Vehicles Using Adaptive Control and Reachability Analysis","publication_year":2025,"publication_date":"2025-09-05","ids":{"openalex":"https://openalex.org/W4414007987","doi":"https://doi.org/10.1109/tcst.2025.3593237"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2025.3593237","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcst.2025.3593237","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/tcst.2025.3593237","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5109651084","display_name":"Karan Mahesh","orcid":"https://orcid.org/0009-0001-2934-147X"},"institutions":[{"id":"https://openalex.org/I1295339012","display_name":"Boeing (United States)","ror":"https://ror.org/04sm5zn07","country_code":"US","type":"company","lineage":["https://openalex.org/I1295339012"]},{"id":"https://openalex.org/I2800865783","display_name":"Aurora Flight Sciences (United States)","ror":"https://ror.org/0110df420","country_code":"US","type":"company","lineage":["https://openalex.org/I2800865783"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Karan Mahesh","raw_affiliation_strings":["Aurora Flight Sciences, A Boeing Company, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0009-0001-2934-147X","affiliations":[{"raw_affiliation_string":"Aurora Flight Sciences, A Boeing Company, Cambridge, MA, USA","institution_ids":["https://openalex.org/I1295339012","https://openalex.org/I2800865783"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063727666","display_name":"Tyler M. Paine","orcid":"https://orcid.org/0000-0001-6071-621X"},"institutions":[{"id":"https://openalex.org/I66958751","display_name":"Woods Hole Oceanographic Institution","ror":"https://ror.org/03zbnzt98","country_code":"US","type":"funder","lineage":["https://openalex.org/I66958751"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tyler M. Paine","raw_affiliation_strings":["Woods Hole Oceanographic Institute, Woods Hole, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6071-621X","affiliations":[{"raw_affiliation_string":"Woods Hole Oceanographic Institute, Woods Hole, MA, USA","institution_ids":["https://openalex.org/I66958751"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027840499","display_name":"Max L. Greene","orcid":"https://orcid.org/0000-0003-2733-0344"},"institutions":[{"id":"https://openalex.org/I1295339012","display_name":"Boeing (United States)","ror":"https://ror.org/04sm5zn07","country_code":"US","type":"company","lineage":["https://openalex.org/I1295339012"]},{"id":"https://openalex.org/I2800865783","display_name":"Aurora Flight Sciences (United States)","ror":"https://ror.org/0110df420","country_code":"US","type":"company","lineage":["https://openalex.org/I2800865783"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Max L. Greene","raw_affiliation_strings":["Aurora Flight Sciences, A Boeing Company, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0003-2733-0344","affiliations":[{"raw_affiliation_string":"Aurora Flight Sciences, A Boeing Company, Cambridge, MA, USA","institution_ids":["https://openalex.org/I1295339012","https://openalex.org/I2800865783"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068134203","display_name":"Nicholas Rober","orcid":"https://orcid.org/0000-0002-6274-7527"},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas Rober","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6274-7527","affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109689005","display_name":"Shinae Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I1295339012","display_name":"Boeing (United States)","ror":"https://ror.org/04sm5zn07","country_code":"US","type":"company","lineage":["https://openalex.org/I1295339012"]},{"id":"https://openalex.org/I2800865783","display_name":"Aurora Flight Sciences (United States)","ror":"https://ror.org/0110df420","country_code":"US","type":"company","lineage":["https://openalex.org/I2800865783"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steven Lee","raw_affiliation_strings":["Aurora Flight Sciences, A Boeing Company, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0009-0009-3384-6727","affiliations":[{"raw_affiliation_string":"Aurora Flight Sciences, A Boeing Company, Cambridge, MA, USA","institution_ids":["https://openalex.org/I1295339012","https://openalex.org/I2800865783"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018170783","display_name":"Sildomar T. Monteiro","orcid":"https://orcid.org/0000-0001-7694-9536"},"institutions":[{"id":"https://openalex.org/I1295339012","display_name":"Boeing (United States)","ror":"https://ror.org/04sm5zn07","country_code":"US","type":"company","lineage":["https://openalex.org/I1295339012"]},{"id":"https://openalex.org/I2800865783","display_name":"Aurora Flight Sciences (United States)","ror":"https://ror.org/0110df420","country_code":"US","type":"company","lineage":["https://openalex.org/I2800865783"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sildomar T. Monteiro","raw_affiliation_strings":["Aurora Flight Sciences, A Boeing Company, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-7694-9536","affiliations":[{"raw_affiliation_string":"Aurora Flight Sciences, A Boeing Company, Cambridge, MA, USA","institution_ids":["https://openalex.org/I1295339012","https://openalex.org/I2800865783"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082528518","display_name":"Anuradha M. Annaswamy","orcid":"https://orcid.org/0000-0002-4354-0459"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anuradha Annaswamy","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-4354-0459","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033392887","display_name":"Michael R. Benjamin","orcid":"https://orcid.org/0000-0002-2520-6465"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael R. Benjamin","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-2520-6465","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011665886","display_name":"Jonathan P. How","orcid":"https://orcid.org/0000-0001-8576-1930"},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan P. How","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-8576-1930","affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0842,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.76067126,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"33","issue":"6","first_page":"2334","last_page":"2349"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9319999814033508,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9319999814033508,"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/reachability","display_name":"Reachability","score":0.9124801158905029},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.5886286497116089},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.4691027104854584},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46789562702178955},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4426000416278839},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.41635510325431824},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33865249156951904},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20147424936294556},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.14188826084136963},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13927581906318665},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.08505749702453613},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07610434293746948},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.0656694769859314}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.9124801158905029},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.5886286497116089},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.4691027104854584},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46789562702178955},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4426000416278839},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.41635510325431824},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33865249156951904},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20147424936294556},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.14188826084136963},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13927581906318665},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.08505749702453613},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07610434293746948},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0656694769859314}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2025.3593237","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcst.2025.3593237","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tcst.2025.3593237","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcst.2025.3593237","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W234738007","https://openalex.org/W1485467598","https://openalex.org/W1574960890","https://openalex.org/W2000062325","https://openalex.org/W2001845988","https://openalex.org/W2021667711","https://openalex.org/W2038754967","https://openalex.org/W2039007366","https://openalex.org/W2042352604","https://openalex.org/W2043151145","https://openalex.org/W2047064833","https://openalex.org/W2083483041","https://openalex.org/W2100704341","https://openalex.org/W2105095180","https://openalex.org/W2115990616","https://openalex.org/W2165991001","https://openalex.org/W2167824602","https://openalex.org/W2321703260","https://openalex.org/W2328067583","https://openalex.org/W2470599264","https://openalex.org/W2561367914","https://openalex.org/W2566243177","https://openalex.org/W2604410735","https://openalex.org/W2620718991","https://openalex.org/W2749680651","https://openalex.org/W2763450331","https://openalex.org/W2811038404","https://openalex.org/W2896974094","https://openalex.org/W2897830955","https://openalex.org/W2898035342","https://openalex.org/W2938701611","https://openalex.org/W2957311447","https://openalex.org/W2964040381","https://openalex.org/W2964058170","https://openalex.org/W2964130946","https://openalex.org/W2980176926","https://openalex.org/W3002726936","https://openalex.org/W3024917158","https://openalex.org/W3035009346","https://openalex.org/W3091798065","https://openalex.org/W3120409696","https://openalex.org/W3138273333","https://openalex.org/W3202908408","https://openalex.org/W3205312597","https://openalex.org/W3205832376","https://openalex.org/W4206101760","https://openalex.org/W4224245224","https://openalex.org/W4309630767","https://openalex.org/W4323064045","https://openalex.org/W4362588581","https://openalex.org/W4399483526","https://openalex.org/W4401414046","https://openalex.org/W4403642705"],"related_works":["https://openalex.org/W2127267268","https://openalex.org/W2136512912","https://openalex.org/W2067910792","https://openalex.org/W2156446763","https://openalex.org/W2143461633","https://openalex.org/W2150194458","https://openalex.org/W4321471459","https://openalex.org/W2889071233","https://openalex.org/W2380814829","https://openalex.org/W3109684687"],"abstract_inverted_index":{"Marine":[0],"robots":[1],"must":[2],"maintain":[3],"precise":[4],"control":[5,38,48,52,69],"and":[6,41,58,120,150,160,203],"ensure":[7,42],"safety":[8,61,88,123,188],"during":[9],"tasks":[10],"such":[11],"as":[12],"navigating":[13],"narrow":[14],"waterways,":[15],"even":[16],"when":[17],"they":[18],"encounter":[19],"unpredictable":[20],"disturbances":[21,36,64,103,156],"that":[22,145],"impact":[23],"performance.":[24],"Designing":[25],"algorithms":[26],"for":[27,34],"uncrewed":[28],"surface":[29],"vehicles":[30],"(USVs)":[31],"requires":[32],"accounting":[33],"these":[35],"to":[37,79,101,155],"the":[39,81,105,137,146,183,191],"vehicle":[40],"it":[43],"avoids":[44],"obstacles.":[45],"While":[46],"adaptive":[47,76],"has":[49],"addressed":[50],"USV":[51,60,82,135],"challenges,":[53],"real-world":[54],"applications":[55],"are":[56],"limited,":[57],"certifying":[59],"amidst":[62],"unexpected":[63],"remains":[65],"difficult.":[66],"To":[67],"tackle":[68],"issues,":[70],"we":[71,90],"employ":[72],"a":[73,84,92,96,112,132,167,172],"model":[74],"reference":[75],"controller":[77,149,165],"(MRAC)":[78],"stabilize":[80],"along":[83],"desired":[85],"trajectory.":[86],"For":[87],"certification,":[89,189],"developed":[91],"reachability":[93,151,184],"module":[94,152,185],"with":[95],"moving":[97],"horizon":[98],"estimator":[99],"(MHE)":[100],"estimate":[102,108],"affecting":[104],"USV.":[106],"This":[107],"is":[109],"propagated":[110],"through":[111],"forward":[113],"reachable":[114],"set":[115],"calculation,":[116],"predicting":[117],"future":[118],"states":[119],"enabling":[121],"real-time":[122,187],"certification.":[124],"We":[125,194],"tested":[126],"our":[127,197],"safe":[128],"autonomy":[129],"pipeline":[130],"on":[131],"Clearpath":[133],"Heron":[134],"in":[136,175,200],"Charles":[138],"River,":[139],"near":[140],"MIT.":[141],"Our":[142],"experiments":[143],"demonstrated":[144],"USV\u2019s":[147,192],"MRAC":[148,164],"could":[153],"adapt":[154],"like":[157],"thruster":[158],"failures":[159],"drag":[161],"forces.":[162],"The":[163],"outperformed":[166],"proportional\u2013integral\u2013derivative":[168],"(PID)":[169],"baseline,":[170],"showing":[171],"45%\u201381%":[173],"reduction":[174],"position":[176],"root":[177],"mean":[178],"squared":[179],"error.":[180],"In":[181],"addition,":[182],"provided":[186],"ensuring":[190],"safety.":[193],"further":[195],"validated":[196],"pipeline\u2019s":[198],"effectiveness":[199],"underway":[201],"replenishment":[202],"canal":[204],"scenarios.":[205]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
