{"id":"https://openalex.org/W2905456320","doi":"https://doi.org/10.1109/tcyb.2018.2883335","title":"Cooperative Path Following Ring-Networked Under-Actuated Autonomous Surface Vehicles: Algorithms and Experimental Results","display_name":"Cooperative Path Following Ring-Networked Under-Actuated Autonomous Surface Vehicles: Algorithms and Experimental Results","publication_year":2018,"publication_date":"2018-12-11","ids":{"openalex":"https://openalex.org/W2905456320","doi":"https://doi.org/10.1109/tcyb.2018.2883335","mag":"2905456320","pmid":"https://pubmed.ncbi.nlm.nih.gov/30530352"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2018.2883335","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2018.2883335","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/A5049980042","display_name":"Lu Liu","orcid":"https://orcid.org/0000-0003-3975-3029"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lu Liu","raw_affiliation_strings":["Collaborative Innovation Research Institute of Autonomous Ship, Dalian Maritime University, Dalian, China","School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0003-3975-3029","affiliations":[{"raw_affiliation_string":"Collaborative Innovation Research Institute of Autonomous Ship, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101593329","display_name":"Dan Wang","orcid":"https://orcid.org/0000-0002-4099-6004"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dan Wang","raw_affiliation_strings":["Collaborative Innovation Research Institute of Autonomous Ship, Dalian Maritime University, Dalian, China","School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-4099-6004","affiliations":[{"raw_affiliation_string":"Collaborative Innovation Research Institute of Autonomous Ship, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026501858","display_name":"Zhouhua Peng","orcid":"https://orcid.org/0000-0003-4468-7281"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhouhua Peng","raw_affiliation_strings":["Collaborative Innovation Research Institute of Autonomous Ship, Dalian Maritime University, Dalian, China","School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0003-4468-7281","affiliations":[{"raw_affiliation_string":"Collaborative Innovation Research Institute of Autonomous Ship, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025349097","display_name":"Tieshan Li","orcid":"https://orcid.org/0000-0003-0474-953X"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tieshan Li","raw_affiliation_strings":["Navigation College, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0003-0474-953X","affiliations":[{"raw_affiliation_string":"Navigation College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100643265","display_name":"C. L. Philip Chen","orcid":"https://orcid.org/0000-0001-5451-7230"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]},{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN","MO"],"is_corresponding":false,"raw_author_name":"C. L. Philip Chen","raw_affiliation_strings":["Faculty of Science and Technology, University of Macau, Macau, China","Navigation College, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0001-5451-7230","affiliations":[{"raw_affiliation_string":"Faculty of Science and Technology, University of Macau, Macau, China","institution_ids":["https://openalex.org/I204512498"]},{"raw_affiliation_string":"Navigation College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.9415,"has_fulltext":false,"cited_by_count":189,"citation_normalized_percentile":{"value":0.98767256,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"50","issue":"4","first_page":"1519","last_page":"1529"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T12158","display_name":"Guidance and Control Systems","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.996999979019165,"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/observer","display_name":"Observer (physics)","score":0.6703134775161743},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6635324954986572},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.6348968744277954},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.592021107673645},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5735216736793518},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5251333713531494},{"id":"https://openalex.org/keywords/equilibrium-point","display_name":"Equilibrium point","score":0.49228277802467346},{"id":"https://openalex.org/keywords/ring","display_name":"Ring (chemistry)","score":0.44370728731155396},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.42026519775390625},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4084523320198059},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23562532663345337},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2252686619758606},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12612545490264893},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.10631540417671204},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10543248057365417},{"id":"https://openalex.org/keywords/differential-equation","display_name":"Differential equation","score":0.10493290424346924},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07640358805656433}],"concepts":[{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6703134775161743},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6635324954986572},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.6348968744277954},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.592021107673645},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5735216736793518},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5251333713531494},{"id":"https://openalex.org/C94766913","wikidata":"https://www.wikidata.org/wiki/Q1530271","display_name":"Equilibrium point","level":3,"score":0.49228277802467346},{"id":"https://openalex.org/C2780378348","wikidata":"https://www.wikidata.org/wiki/Q25351438","display_name":"Ring (chemistry)","level":2,"score":0.44370728731155396},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.42026519775390625},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4084523320198059},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23562532663345337},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2252686619758606},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12612545490264893},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.10631540417671204},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10543248057365417},{"id":"https://openalex.org/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.10493290424346924},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07640358805656433},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2018.2883335","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2018.2883335","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:30530352","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/30530352","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":[{"score":0.699999988079071,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G1744725915","display_name":null,"funder_award_id":"LZ2015006","funder_id":"https://openalex.org/F4320324560","funder_display_name":"Department of Education of Liaoning Province"},{"id":"https://openalex.org/G2070783123","display_name":null,"funder_award_id":"2018J11CY022","funder_id":"https://openalex.org/F4320336584","funder_display_name":"Dalian Science and Technology Innovation Fund"},{"id":"https://openalex.org/G278837720","display_name":null,"funder_award_id":"3132018306","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G3974428420","display_name":null,"funder_award_id":"61673081","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4607280115","display_name":null,"funder_award_id":"3132016313","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G4711758823","display_name":null,"funder_award_id":"51579023","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6070280049","display_name":null,"funder_award_id":"2016YFC0301500","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G653700208","display_name":null,"funder_award_id":"61751202","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"},{"id":"https://openalex.org/F4320324560","display_name":"Department of Education of Liaoning Province","ror":"https://ror.org/0022v2454"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320336584","display_name":"Dalian Science and Technology Innovation Fund","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W1481876943","https://openalex.org/W1973564335","https://openalex.org/W1974854420","https://openalex.org/W1984651876","https://openalex.org/W1994296875","https://openalex.org/W1995825936","https://openalex.org/W1998380707","https://openalex.org/W2009903597","https://openalex.org/W2010927284","https://openalex.org/W2012155945","https://openalex.org/W2013928382","https://openalex.org/W2020377815","https://openalex.org/W2036316876","https://openalex.org/W2062219372","https://openalex.org/W2062484461","https://openalex.org/W2065632630","https://openalex.org/W2070126066","https://openalex.org/W2073278424","https://openalex.org/W2081030172","https://openalex.org/W2090167557","https://openalex.org/W2093771543","https://openalex.org/W2093887204","https://openalex.org/W2094437443","https://openalex.org/W2120638718","https://openalex.org/W2129891269","https://openalex.org/W2137549436","https://openalex.org/W2142430251","https://openalex.org/W2143872920","https://openalex.org/W2150726124","https://openalex.org/W2209843567","https://openalex.org/W2278307206","https://openalex.org/W2280043427","https://openalex.org/W2295495433","https://openalex.org/W2298886698","https://openalex.org/W2345111710","https://openalex.org/W2347085891","https://openalex.org/W2404095871","https://openalex.org/W2405883216","https://openalex.org/W2471783715","https://openalex.org/W2484425816","https://openalex.org/W2492811885","https://openalex.org/W2497535426","https://openalex.org/W2522475299","https://openalex.org/W2552003518","https://openalex.org/W2555176140","https://openalex.org/W2579065153","https://openalex.org/W2581111877","https://openalex.org/W2581967720","https://openalex.org/W2612054959","https://openalex.org/W2624600449","https://openalex.org/W2760171912","https://openalex.org/W2765550637","https://openalex.org/W2799290345","https://openalex.org/W2883731169","https://openalex.org/W2892618546","https://openalex.org/W3026829485","https://openalex.org/W6745751922"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2186140227","https://openalex.org/W2534185822","https://openalex.org/W2132535444","https://openalex.org/W2367651125","https://openalex.org/W2387936656","https://openalex.org/W2063297487","https://openalex.org/W2897178038"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,7,26,67,78,94,98,115,122,126,144,147,159,162,168],"cooperative":[4,20,95,123,164],"path":[5,68,96,124,169],"following":[6,97,125,170],"problem":[8],"of":[9,41,77,100,102,128,146,161],"ring-networked":[10,72],"under-actuated":[11],"autonomous":[12],"surface":[13],"vehicles":[14],"on":[15],"a":[16,31,51,55,60,71,103,108,172],"closed":[17,173],"curve.":[18,174],"A":[19],"guidance":[21,39,57,165],"law":[22,166],"is":[23,35,63,91,111,132,139],"proposed":[24,64,163],"at":[25],"kinematic":[27],"level":[28],"such":[29],"that":[30],"symmetric":[32],"formation":[33],"pattern":[34],"achieved.":[36],"Specifically,":[37],"individual":[38],"laws":[40],"surge":[42],"speed":[43],"and":[44,54,107,134,152],"angular":[45],"rate":[46],"are":[47,155],"developed":[48,140],"by":[49],"using":[50],"backstepping":[52],"technique":[53],"line-of-sight":[56],"method.":[58],"Then,":[59],"coordination":[61],"design":[62],"to":[65,84,93,113,118,141,157],"update":[66],"variables":[69],"under":[70],"topology.":[73],"The":[74,89],"equilibrium":[75],"point":[76],"closed-loop":[79],"system":[80],"has":[81],"been":[82],"proven":[83],"be":[85],"globally":[86],"asymptotically":[87],"stable.":[88],"result":[90],"extended":[92,136],"lack":[99],"sharing":[101],"global":[104],"reference":[105,116],"velocity,":[106],"distributed":[109],"observer":[110,138],"designed":[112],"recover":[114],"velocity":[117],"each":[119],"vehicle.":[120],"Moreover,":[121],"presence":[127],"an":[129,135],"unknown":[130,148],"sideslip":[131],"considered,":[133],"state":[137],"compensate":[142],"for":[143,167],"effect":[145],"sideslip.":[149],"Both":[150],"simulation":[151],"experimental":[153],"results":[154],"provided":[156],"illustrate":[158],"effectiveness":[160],"over":[171]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":34},{"year":2023,"cited_by_count":33},{"year":2022,"cited_by_count":36},{"year":2021,"cited_by_count":34},{"year":2020,"cited_by_count":21},{"year":2019,"cited_by_count":8}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
