{"id":"https://openalex.org/W2133009136","doi":"https://doi.org/10.1109/tro.2008.2008742","title":"3-D Source Seeking for Underactuated Vehicles Without Position Measurement","display_name":"3-D Source Seeking for Underactuated Vehicles Without Position Measurement","publication_year":2009,"publication_date":"2009-02-01","ids":{"openalex":"https://openalex.org/W2133009136","doi":"https://doi.org/10.1109/tro.2008.2008742","mag":"2133009136"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2008.2008742","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2008.2008742","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5109093752","display_name":"Jennie Cochran","orcid":null},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Cochran","raw_affiliation_strings":["Department of Mechanical and AeroSpace Engineering, University of California, San Diego, CA, USA","ScienceOps, Bothell, WA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and AeroSpace Engineering, University of California, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"ScienceOps, Bothell, WA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039886950","display_name":"Antranik Siranosian","orcid":null},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Siranosian","raw_affiliation_strings":["Department of Mechanical and AeroSpace Engineering, University of California, San Diego, CA, USA","Dept. of Mech. & Aerosp. Eng., Univ. of California, San Diego, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and AeroSpace Engineering, University of California, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"Dept. of Mech. & Aerosp. Eng., Univ. of California, San Diego, CA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036867140","display_name":"N. Razavi\u2010Ghods","orcid":"https://orcid.org/0000-0003-2930-5396"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"N. Ghods","raw_affiliation_strings":["Department of Mechanical and AeroSpace Engineering, University of California, San Diego, CA, USA","Dept. of Mech. & Aerosp. Eng., Univ. of California, San Diego, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and AeroSpace Engineering, University of California, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"Dept. of Mech. & Aerosp. Eng., Univ. of California, San Diego, CA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018293076","display_name":"Miroslav Krsti\u0107","orcid":"https://orcid.org/0000-0002-5523-941X"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Krstic","raw_affiliation_strings":["Department of Mechanical and AeroSpace Engineering, University of California, San Diego, CA, USA","Dept. of Mech. & Aerosp. Eng., Univ. of California, San Diego, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and AeroSpace Engineering, University of California, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"Dept. of Mech. & Aerosp. Eng., Univ. of California, San Diego, CA","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":13.0919,"has_fulltext":false,"cited_by_count":108,"citation_normalized_percentile":{"value":0.9860542,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"25","issue":"1","first_page":"117","last_page":"129"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","score":1.0,"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"}},{"id":"https://openalex.org/T10553","display_name":"Combustion and flame dynamics","score":0.9648000001907349,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.932200014591217,"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":0.7295312881469727},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.624877393245697},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6077393293380737},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5894193649291992},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.5863979458808899},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5650599002838135},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5228703022003174},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5101950168609619},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.486128568649292},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27531808614730835},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2629649043083191},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23565232753753662},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17616614699363708},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.13345175981521606}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7295312881469727},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.624877393245697},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6077393293380737},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5894193649291992},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.5863979458808899},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5650599002838135},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5228703022003174},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5101950168609619},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.486128568649292},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27531808614730835},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2629649043083191},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23565232753753662},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17616614699363708},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.13345175981521606},{"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2008.2008742","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2008.2008742","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1540560684","https://openalex.org/W2019773616","https://openalex.org/W2048600308","https://openalex.org/W2055253862","https://openalex.org/W2064743507","https://openalex.org/W2091253371","https://openalex.org/W2097133442","https://openalex.org/W2101607950","https://openalex.org/W2102279340","https://openalex.org/W2106028527","https://openalex.org/W2110628409","https://openalex.org/W2119301680","https://openalex.org/W2128062626","https://openalex.org/W2133651102","https://openalex.org/W2137328938","https://openalex.org/W2146704568","https://openalex.org/W2149473541","https://openalex.org/W2159826786","https://openalex.org/W2161933891","https://openalex.org/W2164640872","https://openalex.org/W2537677282","https://openalex.org/W4252455350","https://openalex.org/W4285719527","https://openalex.org/W4300443332","https://openalex.org/W6676544070","https://openalex.org/W6680212775"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W3135136999"],"abstract_inverted_index":{"Our":[0,144],"past":[1],"work":[2],"introduced":[3],"source":[4],"seeking":[5],"methods":[6],"for":[7],"GPS-denied":[8],"autonomous":[9],"vehicles":[10,112,131],"using":[11],"only":[12,140],"local":[13],"signal":[14,56],"measurement":[15],"and":[16,87,118,124,135,138,149],"operating":[17],"in":[18,44,58,73,96],"two":[19,100],"dimensions.":[20,30],"In":[21],"this":[22],"paper,":[23],"we":[24],"extend":[25],"these":[26,105],"results":[27,145],"to":[28,48,78,121],"three":[29],"The":[31,107,127],"3D":[32,76],"extensions":[33],"introduce":[34],"many":[35],"interesting":[36],"challenges,":[37],"including":[38],"the":[39,60,88,119,141],"choice":[40],"of":[41,53,62,65,67,90],"vehicle":[42,68,77],"models":[43],"3D,":[45,59],"sensor":[46],"placement":[47],"allow":[49,79],"probing-based":[50],"gradient":[51],"estimation":[52],"an":[54,74],"unknown":[55],"field":[57],"question":[61],"what":[63],"type":[64],"pattern":[66],"motion":[69],"can":[70],"be":[71],"produced":[72],"underactuated":[75],"tuning":[80],"by":[81],"single-loop":[82],"or":[83],"multiloop":[84],"extremum":[85],"seeking,":[86],"shape":[89],"attractors,":[91],"which":[92],"become":[93],"very":[94],"complex":[95],"3D.":[97],"We":[98],"present":[99],"control":[101],"schemes":[102],"that":[103],"address":[104],"questions.":[106],"first":[108],"scheme":[109,129],"focuses":[110],"on":[111],"with":[113,132],"a":[114],"constant":[115,133],"forward":[116,134],"velocity":[117],"ability":[120],"actuate":[122,139],"pitch":[123,136],"yaw":[125],"velocities.":[126],"second":[128],"employs":[130],"velocities":[137],"roll":[142],"velocity.":[143],"include":[146],"convergence":[147],"analysis":[148],"simulation":[150],"results.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
