{"id":"https://openalex.org/W2146836751","doi":"https://doi.org/10.1109/tie.2009.2014675","title":"Vision-Based Target Tracking and Collision Avoidance for Two Autonomous Robotic Fish","display_name":"Vision-Based Target Tracking and Collision Avoidance for Two Autonomous Robotic Fish","publication_year":2009,"publication_date":"2009-02-13","ids":{"openalex":"https://openalex.org/W2146836751","doi":"https://doi.org/10.1109/tie.2009.2014675","mag":"2146836751"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2009.2014675","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2009.2014675","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5001441001","display_name":"Yonghui Hu","orcid":"https://orcid.org/0000-0002-7228-5418"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210092262","display_name":"Ministry of Education","ror":"https://ror.org/00dh5gw98","country_code":"RO","type":"funder","lineage":["https://openalex.org/I2799732796","https://openalex.org/I4210092262"]}],"countries":["CN","RO"],"is_corresponding":false,"raw_author_name":"Yonghui Hu","raw_affiliation_strings":["Intelligent Control Laboratory, Center of Systems and Control, College of Engineering, and Key Laboratory of Machine Perception, Ministry of Education, Peking University, Beijing, China","Intell. Control Lab., Peking Univ., Beijing"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Control Laboratory, Center of Systems and Control, College of Engineering, and Key Laboratory of Machine Perception, Ministry of Education, Peking University, Beijing, China","institution_ids":["https://openalex.org/I4210092262"]},{"raw_affiliation_string":"Intell. Control Lab., Peking Univ., Beijing","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101841824","display_name":"Wei Zhao","orcid":"https://orcid.org/0000-0002-7194-4960"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210092262","display_name":"Ministry of Education","ror":"https://ror.org/00dh5gw98","country_code":"RO","type":"funder","lineage":["https://openalex.org/I2799732796","https://openalex.org/I4210092262"]}],"countries":["CN","RO"],"is_corresponding":false,"raw_author_name":"Wei Zhao","raw_affiliation_strings":["Intelligent Control Laboratory, Center of Systems and Control, College of Engineering, and Key Laboratory of Machine Perception, Ministry of Education, Peking University, Beijing, China","Intell. Control Lab., Peking Univ., Beijing"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Control Laboratory, Center of Systems and Control, College of Engineering, and Key Laboratory of Machine Perception, Ministry of Education, Peking University, Beijing, China","institution_ids":["https://openalex.org/I4210092262"]},{"raw_affiliation_string":"Intell. Control Lab., Peking Univ., Beijing","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100447536","display_name":"Long Wang","orcid":"https://orcid.org/0000-0001-5600-8157"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210092262","display_name":"Ministry of Education","ror":"https://ror.org/00dh5gw98","country_code":"RO","type":"funder","lineage":["https://openalex.org/I2799732796","https://openalex.org/I4210092262"]}],"countries":["CN","RO"],"is_corresponding":false,"raw_author_name":"Long Wang","raw_affiliation_strings":["Intelligent Control Laboratory, Center of Systems and Control, College of Engineering, and Key Laboratory of Machine Perception, Ministry of Education, Peking University, Beijing, China","Intell. Control Lab., Peking Univ., Beijing"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Control Laboratory, Center of Systems and Control, College of Engineering, and Key Laboratory of Machine Perception, Ministry of Education, Peking University, Beijing, China","institution_ids":["https://openalex.org/I4210092262"]},{"raw_affiliation_string":"Intell. Control Lab., Peking Univ., Beijing","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":13.9587,"has_fulltext":false,"cited_by_count":94,"citation_normalized_percentile":{"value":0.98886082,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"56","issue":"5","first_page":"1401","last_page":"1410"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7174010276794434},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6442052125930786},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6261938214302063},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5779269337654114},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5401630997657776},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5373948812484741},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4843505620956421},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4604862630367279},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44519904255867004},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4107297360897064},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3809462785720825},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3754756450653076},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36914584040641785},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27297645807266235},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09736967086791992},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07656198740005493}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7174010276794434},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6442052125930786},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6261938214302063},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5779269337654114},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5401630997657776},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5373948812484741},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4843505620956421},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4604862630367279},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44519904255867004},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4107297360897064},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3809462785720825},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3754756450653076},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36914584040641785},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27297645807266235},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09736967086791992},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07656198740005493},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2009.2014675","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2009.2014675","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8399999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1559482737","https://openalex.org/W1590684588","https://openalex.org/W1930253883","https://openalex.org/W1976823611","https://openalex.org/W1979063233","https://openalex.org/W1996184771","https://openalex.org/W2008949258","https://openalex.org/W2014546372","https://openalex.org/W2044313750","https://openalex.org/W2068275355","https://openalex.org/W2083120813","https://openalex.org/W2083537896","https://openalex.org/W2094460003","https://openalex.org/W2098692763","https://openalex.org/W2107193468","https://openalex.org/W2114307674","https://openalex.org/W2118879643","https://openalex.org/W2119120935","https://openalex.org/W2121273772","https://openalex.org/W2129142668","https://openalex.org/W2149417141","https://openalex.org/W2166063729","https://openalex.org/W2170798107","https://openalex.org/W2176569996","https://openalex.org/W3021598133","https://openalex.org/W6633536816"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3042530408","https://openalex.org/W4381746183","https://openalex.org/W2165574943","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514"],"abstract_inverted_index":{"<para":[0],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[1],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[2],"A":[3],"new":[4],"type":[5],"of":[6,12,63,70,122,137,155,167],"vision-based":[7],"autonomous":[8,59,71,161],"robotic":[9,23,60,110,162],"fish":[10,24,111,124,163],"capable":[11],"3-D":[13],"locomotion":[14],"is":[15,73,106,151],"developed":[16],"in":[17,52,90,97],"this":[18,95],"paper.":[19],"Based":[20],"on":[21,31,66,75,108],"our":[22],"prototype,":[25],"the":[26,39,67,86,123,156,165,168],"forces":[27],"and":[28,34,38,54,78,88,128,144],"moments":[29],"acting":[30],"its":[32,114],"fins":[33],"body":[35],"are":[36,43],"analyzed,":[37],"governing":[40],"motion":[41,120],"equations":[42],"derived.":[44],"We":[45],"further":[46],"investigate":[47],"a":[48,91,102,131,135,142,145],"decentralized":[49,104],"control":[50,105,132],"method":[51],"target-tracking":[53],"collision-avoidance":[55],"task":[56,68,157],"for":[57,148],"two":[58,160],"fish.":[61],"Most":[62],"previous":[64],"work":[65],"strategies":[69],"robots":[72,77],"focused":[74],"terrestrial":[76],"seldom":[79],"deals":[80],"with":[81,119],"underwater":[82,100],"applications":[83],"due":[84],"to":[85,113],"uncertainties":[87],"complexity":[89],"hydroenvironment.":[92],"To":[93],"address":[94],"challenge":[96],"such":[98],"an":[99,138],"task,":[101],"situated-behavior-based":[103],"employed":[107],"each":[109],"according":[112],"visual":[115],"data.":[116],"On":[117],"dealing":[118],"planning":[121],"during":[125],"target":[126,143],"tracking":[127],"collision":[129,149],"avoidance,":[130],"law":[133],"by":[134,159],"combination":[136],"attractive":[139],"force":[140,147],"toward":[141],"repulsive":[146],"avoidance":[150],"utilized.":[152],"Experimental":[153],"results":[154],"performed":[158],"validate":[164],"effectiveness":[166],"proposed":[169],"method.":[170],"</para>":[171]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
