{"id":"https://openalex.org/W4386737224","doi":"https://doi.org/10.1109/tiv.2023.3315367","title":"Distributed MPC-Based Robust Collision Avoidance Formation Navigation of Constrained Multiple USVs","display_name":"Distributed MPC-Based Robust Collision Avoidance Formation Navigation of Constrained Multiple USVs","publication_year":2023,"publication_date":"2023-09-14","ids":{"openalex":"https://openalex.org/W4386737224","doi":"https://doi.org/10.1109/tiv.2023.3315367"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2023.3315367","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3315367","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Intelligent Vehicles","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/A5040088510","display_name":"Guanghui Wen","orcid":"https://orcid.org/0000-0003-0070-8597"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanghui Wen","raw_affiliation_strings":["Department of Systems Science, Southeast University, Nanjing, China","Brain and Affective Cognitive Research Center, Pazhou Lab, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-0070-8597","affiliations":[{"raw_affiliation_string":"Department of Systems Science, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"Brain and Affective Cognitive Research Center, Pazhou Lab, Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038930344","display_name":"James Lam","orcid":"https://orcid.org/0000-0002-0294-0640"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"James Lam","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-0294-0640","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030933117","display_name":"Junjie Fu","orcid":"https://orcid.org/0000-0002-1528-8727"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junjie Fu","raw_affiliation_strings":["Department of Systems Science, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-1528-8727","affiliations":[{"raw_affiliation_string":"Department of Systems Science, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066649783","display_name":"Shuai Wang","orcid":"https://orcid.org/0000-0001-7253-785X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Wang","raw_affiliation_strings":["School of Computer Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7253-785X","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.5336,"has_fulltext":false,"cited_by_count":97,"citation_normalized_percentile":{"value":0.99005569,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"9","issue":"1","first_page":"1804","last_page":"1816"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9850000143051147,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9832000136375427,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.8206233978271484},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.533903956413269},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4869188070297241},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.32141363620758057},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.22240841388702393}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8206233978271484},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.533903956413269},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4869188070297241},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.32141363620758057},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.22240841388702393}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tiv.2023.3315367","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3315367","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Intelligent Vehicles","raw_type":"journal-article"},{"id":"pmh:oai:hub.hku.hk:10722/344642","is_oa":false,"landing_page_url":"https://hub.hku.hk/handle/10722/344642","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G1104027219","display_name":null,"funder_award_id":"62273286","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2575069074","display_name":null,"funder_award_id":"62088101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2710225095","display_name":null,"funder_award_id":"62173085","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2843151570","display_name":null,"funder_award_id":"62325304","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5060958647","display_name":null,"funder_award_id":"62073079","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8967878662","display_name":null,"funder_award_id":"U22B2046","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1471730750","https://openalex.org/W2004765767","https://openalex.org/W2037780376","https://openalex.org/W2068551280","https://openalex.org/W2080817687","https://openalex.org/W2165188227","https://openalex.org/W2222512263","https://openalex.org/W2301927045","https://openalex.org/W2330745128","https://openalex.org/W2787063656","https://openalex.org/W2789862859","https://openalex.org/W2799669463","https://openalex.org/W2804761573","https://openalex.org/W2806070934","https://openalex.org/W2892618546","https://openalex.org/W2948452254","https://openalex.org/W2981462393","https://openalex.org/W3009423519","https://openalex.org/W3037669777","https://openalex.org/W3085629799","https://openalex.org/W3091049962","https://openalex.org/W3098567417","https://openalex.org/W3109767144","https://openalex.org/W3110363133","https://openalex.org/W3126889909","https://openalex.org/W3127198723","https://openalex.org/W3128019105","https://openalex.org/W3135251862","https://openalex.org/W3163216900","https://openalex.org/W3193458730","https://openalex.org/W4206086137","https://openalex.org/W4211132477","https://openalex.org/W4225615381","https://openalex.org/W4226073364","https://openalex.org/W4285260440","https://openalex.org/W4285287000","https://openalex.org/W4296682687","https://openalex.org/W4310855566","https://openalex.org/W4312736561"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311"],"abstract_inverted_index":{"This":[0,115],"article":[1],"is":[2,84,149,165],"devoted":[3],"to":[4,32,86,111,179,194,204],"tackling":[5],"the":[6,23,63,68,96,119,130,155,168,174,183,196,199],"robust":[7],"collision":[8,88,142],"avoidance":[9,143],"formation":[10,90,145],"navigation":[11,146],"problem":[12],"for":[13],"a":[14,73,122,138],"class":[15,139],"of":[16,76,95,98,121,132,140,158,182,198],"multiple":[17],"unmanned":[18],"surface":[19],"vehicles":[20],"(multi-USVs),":[21],"where":[22],"USVs":[24,159],"are":[25,41,56,109,192],"modeled":[26],"as":[27,45],"underactuated":[28],"nonlinear":[29,65],"systems":[30],"subject":[31],"state":[33,69],"and":[34,55,67,70,151,177,203],"input":[35,71],"constraints.":[36],"Furthermore,":[37],"unknown":[38,104],"external":[39,105,175],"disturbances":[40,176],"taken":[42],"into":[43],"consideration,":[44],"they":[46],"stem":[47],"from":[48],"diverse":[49],"uncertainties":[50],"associated":[51],"with":[52],"environmental":[53],"loadings":[54],"encountered":[57],"in":[58,93,127],"various":[59],"practical":[60],"situations.":[61],"Considering":[62],"inherent":[64],"dynamics":[66,101],"constraints,":[72],"new":[74],"kind":[75],"distributed":[77,141],"model":[78],"predictive":[79,124],"control":[80,147,156,201],"(MPC)":[81],"based":[82,186],"controllers":[83],"developed":[85],"achieve":[87],"free":[89],"navigation.":[91],"Specifically,":[92],"light":[94],"unavailability":[97],"accurate":[99],"USV":[100],"caused":[102],"by":[103],"disturbances,":[106],"time-delay":[107,169],"observers":[108,170],"constructed":[110],"estimate":[112,173],"these":[113],"disturbances.":[114],"estimation":[116],"process":[117],"facilitates":[118],"creation":[120],"reliable":[123],"model,":[125],"which":[126],"turn":[128],"enables":[129],"design":[131],"an":[133],"effective":[134],"MPC":[135,144,185],"controller.":[136,187],"Subsequently,":[137],"strategies":[148],"presented":[150],"utilized":[152],"such":[153],"that":[154,167],"inputs":[157],"can":[160,171],"be":[161],"determined":[162],"synchronously.":[163],"It":[164],"shown":[166],"effectively":[172],"lead":[178],"satisfactory":[180],"performance":[181],"distribute":[184],"At":[188],"last,":[189],"numerical":[190],"experiments":[191],"conducted":[193],"validate":[195],"effectiveness":[197],"present":[200],"strategy":[202],"demonstrate":[205],"its":[206],"advantages":[207],"over":[208],"existing":[209],"approaches.":[210]},"counts_by_year":[{"year":2026,"cited_by_count":21},{"year":2025,"cited_by_count":50},{"year":2024,"cited_by_count":26}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}