{"id":"https://openalex.org/W2806070934","doi":"https://doi.org/10.1109/tcyb.2018.2834919","title":"An Error Transformation Approach for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Networked Uncertain Underactuated Surface Vessels","display_name":"An Error Transformation Approach for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Networked Uncertain Underactuated Surface Vessels","publication_year":2018,"publication_date":"2018-05-30","ids":{"openalex":"https://openalex.org/W2806070934","doi":"https://doi.org/10.1109/tcyb.2018.2834919","mag":"2806070934","pmid":"https://pubmed.ncbi.nlm.nih.gov/29993596"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2018.2834919","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2018.2834919","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5026614228","display_name":"Bong Seok Park","orcid":"https://orcid.org/0000-0003-2878-345X"},"institutions":[{"id":"https://openalex.org/I206597221","display_name":"Kongju National University","ror":"https://ror.org/0373nm262","country_code":"KR","type":"education","lineage":["https://openalex.org/I206597221"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Bong Seok Park","raw_affiliation_strings":["Division of Electrical, Electronic, and Control Engineering and Institute of IT Convergence Technology, Kongju National University, Cheonan, South Korea"],"affiliations":[{"raw_affiliation_string":"Division of Electrical, Electronic, and Control Engineering and Institute of IT Convergence Technology, Kongju National University, Cheonan, South Korea","institution_ids":["https://openalex.org/I206597221"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053299526","display_name":"Sung Jin Yoo","orcid":"https://orcid.org/0000-0002-5580-7528"},"institutions":[{"id":"https://openalex.org/I67900169","display_name":"Chung-Ang University","ror":"https://ror.org/01r024a98","country_code":"KR","type":"education","lineage":["https://openalex.org/I67900169"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung Jin Yoo","raw_affiliation_strings":["School of Electrical and Electronics Engineering, Chung-Ang University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronics Engineering, Chung-Ang University, Seoul, South Korea","institution_ids":["https://openalex.org/I67900169"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5026614228"],"corresponding_institution_ids":["https://openalex.org/I206597221"],"apc_list":null,"apc_paid":null,"fwci":8.7795,"has_fulltext":false,"cited_by_count":145,"citation_normalized_percentile":{"value":0.97983817,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"49","issue":"8","first_page":"2955","last_page":"2966"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9993000030517578,"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":0.9993000030517578,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9955000281333923,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/underactuation","display_name":"Underactuation","score":0.9060558080673218},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6530949473381042},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5711946487426758},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5590229630470276},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5565826892852783},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5475378036499023},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5275511145591736},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5256608128547668},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.5186564326286316},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5032867789268494},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4971926510334015},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4592457115650177},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.42031213641166687},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3917919993400574},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28929227590560913},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.22487875819206238},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16661527752876282},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15334203839302063},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.08089321851730347}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9060558080673218},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6530949473381042},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5711946487426758},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5590229630470276},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5565826892852783},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5475378036499023},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5275511145591736},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5256608128547668},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.5186564326286316},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5032867789268494},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4971926510334015},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4592457115650177},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.42031213641166687},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3917919993400574},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28929227590560913},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.22487875819206238},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16661527752876282},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15334203839302063},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.08089321851730347},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2018.2834919","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2018.2834919","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:29993596","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29993596","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3579387157","display_name":null,"funder_award_id":"IITP-2018-2014-0-00636","funder_id":"https://openalex.org/F4320335489","funder_display_name":"Institute for Information and Communications Technology Promotion"},{"id":"https://openalex.org/G5338755726","display_name":null,"funder_award_id":"NRF-2016R1C1B1006936","funder_id":"https://openalex.org/F4320311687","funder_display_name":"Ministry of Education"},{"id":"https://openalex.org/G7546343092","display_name":null,"funder_award_id":"NRF-2016R1D1A1B03931312","funder_id":"https://openalex.org/F4320311687","funder_display_name":"Ministry of Education"}],"funders":[{"id":"https://openalex.org/F4320311687","display_name":"Ministry of Education","ror":"https://ror.org/03m01yf64"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320335489","display_name":"Institute for Information and Communications Technology Promotion","ror":"https://ror.org/01g0hqq23"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W640998348","https://openalex.org/W1508975269","https://openalex.org/W1630241696","https://openalex.org/W1965406874","https://openalex.org/W1967389814","https://openalex.org/W1969703657","https://openalex.org/W1973564335","https://openalex.org/W1982790752","https://openalex.org/W1989524368","https://openalex.org/W1997152854","https://openalex.org/W1998380707","https://openalex.org/W1998433168","https://openalex.org/W2004765767","https://openalex.org/W2004875789","https://openalex.org/W2013928382","https://openalex.org/W2036316876","https://openalex.org/W2051671655","https://openalex.org/W2057770661","https://openalex.org/W2059087886","https://openalex.org/W2066999351","https://openalex.org/W2068093684","https://openalex.org/W2072020080","https://openalex.org/W2080588088","https://openalex.org/W2083205579","https://openalex.org/W2084163350","https://openalex.org/W2095095933","https://openalex.org/W2100884961","https://openalex.org/W2105163249","https://openalex.org/W2107723135","https://openalex.org/W2121570671","https://openalex.org/W2141616117","https://openalex.org/W2145357881","https://openalex.org/W2146527936","https://openalex.org/W2152343314","https://openalex.org/W2154273141","https://openalex.org/W2154647909","https://openalex.org/W2155614720","https://openalex.org/W2156998846","https://openalex.org/W2165413656","https://openalex.org/W2168097327","https://openalex.org/W2334086641","https://openalex.org/W2416726102","https://openalex.org/W2478761517","https://openalex.org/W2566617056","https://openalex.org/W2579065153","https://openalex.org/W2624600449","https://openalex.org/W2753192761","https://openalex.org/W4241629868"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W4206668738","https://openalex.org/W3163022373","https://openalex.org/W3005999311"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"a":[3,50],"distributed":[4,67],"connectivity-preserving":[5],"and":[6,65,76,122,133,148],"collision-avoiding":[7],"formation":[8,39,54,68,74,96],"tracking":[9,40,69],"problem":[10,139],"of":[11,140,156],"networked":[12],"uncertain":[13,131],"underactuated":[14,138],"surface":[15],"vessels":[16],"(USVs)":[17],"with":[18,36,136],"heterogeneous":[19],"limited":[20],"communication":[21],"ranges.":[22],"All":[23],"nonlinearities":[24,132],"in":[25],"the":[26,37,58,62,66,72,105,112,117,123,137,144,154,157],"dynamic":[27],"model":[28],"are":[29,126,150],"assumed":[30],"to":[31,48,128,134,152],"be":[32,89],"completely":[33],"unknown.":[34],"Compared":[35],"existing":[38],"results":[41],"for":[42,56,130],"USVs,":[43,141],"our":[44],"primary":[45],"contribution":[46],"is":[47,109],"develop":[49],"new":[51],"nonlinearly":[52,106],"transformed":[53,95,107],"error":[55,97,108],"achieving":[57],"initial":[59],"connectivity":[60],"preservation,":[61],"collision":[63],"avoidance,":[64],"without":[70],"switching":[71],"desired":[73],"pattern":[75],"using":[77,92,104],"any":[78],"additional":[79],"potential":[80],"functions.":[81],"In":[82],"other":[83],"words,":[84],"these":[85],"three":[86],"objectives":[87],"can":[88],"achieved":[90],"by":[91],"only":[93],"one":[94],"surface.":[98],"The":[99],"local":[100],"tracker":[101],"design":[102],"strategy":[103],"established":[110],"under":[111],"direct":[113],"graph":[114],"topology,":[115],"where":[116],"adaptive":[118],"function":[119],"approximation":[120],"technique":[121],"auxiliary":[124],"variables":[125],"employed":[127],"compensate":[129],"deal":[135],"respectively.":[142],"Finally,":[143],"Lyapunov":[145],"stability":[146],"analysis":[147],"simulations":[149],"performed":[151],"verify":[153],"effectiveness":[155],"proposed":[158],"theoretic":[159],"result.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":30},{"year":2022,"cited_by_count":25},{"year":2021,"cited_by_count":24},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":9}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}