{"id":"https://openalex.org/W2019270513","doi":"https://doi.org/10.1109/tro.2009.2026500","title":"Source Seeking for Two Nonholonomic Models of Fish Locomotion","display_name":"Source Seeking for Two Nonholonomic Models of Fish Locomotion","publication_year":2009,"publication_date":"2009-07-28","ids":{"openalex":"https://openalex.org/W2019270513","doi":"https://doi.org/10.1109/tro.2009.2026500","mag":"2019270513"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2009.2026500","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2009.2026500","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","Dept. of Mech. & Aerosp. Eng., Univ. of California, San Diego, CA, USA"],"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, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033815477","display_name":"Eva Kanso","orcid":"https://orcid.org/0000-0003-0336-585X"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E. Kanso","raw_affiliation_strings":["Department of AeroSpace and Mechanical Engineering, University of Southern California, Los Angeles, CA, USA","Dept. of Aerosp. & Mech. Eng., Univ. of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of AeroSpace and Mechanical Engineering, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Dept. of Aerosp. & Mech. Eng., Univ. of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101471279","display_name":"Scott David Kelly","orcid":"https://orcid.org/0009-0004-1325-156X"},"institutions":[{"id":"https://openalex.org/I102149020","display_name":"University of North Carolina at Charlotte","ror":"https://ror.org/04dawnj30","country_code":"US","type":"education","lineage":["https://openalex.org/I102149020"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S.D. Kelly","raw_affiliation_strings":["Department of Mechanical Engineering and Engineering Science, University of North Carolina, Charlotte, Charlotte, NC, USA","Dept. of Mech. Eng. & Eng. Sci., Univ. of North Carolina at Charlotte, Charlotte, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Engineering Science, University of North Carolina, Charlotte, Charlotte, NC, USA","institution_ids":["https://openalex.org/I102149020"]},{"raw_affiliation_string":"Dept. of Mech. Eng. & Eng. Sci., Univ. of North Carolina at Charlotte, Charlotte, NC, USA","institution_ids":["https://openalex.org/I102149020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012638028","display_name":"Hailong Xiong","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hailong Xiong","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Illinois, Urbana-Champaign, Urbana, IL, USA","Dept. of Mech. & Ind. Eng., Univ. of Illinois at Urbana-Champaign, Urbana, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Illinois, Urbana-Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Dept. of Mech. & Ind. Eng., Univ. of Illinois at Urbana-Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"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, USA"],"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, USA","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":16.9425,"has_fulltext":false,"cited_by_count":76,"citation_normalized_percentile":{"value":0.99058932,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"25","issue":"5","first_page":"1166","last_page":"1176"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.991599977016449,"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/T11187","display_name":"Nonlinear Dynamics and Pattern Formation","score":0.9779999852180481,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/airfoil","display_name":"Airfoil","score":0.670295774936676},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.616716742515564},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5936145782470703},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5855273008346558},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.46973761916160583},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.4652728736400604},{"id":"https://openalex.org/keywords/fish-actinopterygii","display_name":"Fish <Actinopterygii>","score":0.43074238300323486},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3970385491847992},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3560311198234558},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.3440234363079071},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3231533169746399},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32283616065979004},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.29990673065185547},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24192392826080322},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2242821455001831},{"id":"https://openalex.org/keywords/fishery","display_name":"Fishery","score":0.12324345111846924}],"concepts":[{"id":"https://openalex.org/C112124176","wikidata":"https://www.wikidata.org/wiki/Q4698744","display_name":"Airfoil","level":2,"score":0.670295774936676},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.616716742515564},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5936145782470703},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5855273008346558},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.46973761916160583},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.4652728736400604},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.43074238300323486},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3970385491847992},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3560311198234558},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.3440234363079071},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3231533169746399},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32283616065979004},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.29990673065185547},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24192392826080322},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2242821455001831},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.12324345111846924},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2009.2026500","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2009.2026500","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":[{"id":"https://metadata.un.org/sdg/14","score":0.8199999928474426,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W119350729","https://openalex.org/W1540560684","https://openalex.org/W1555780618","https://openalex.org/W1969882308","https://openalex.org/W1977560384","https://openalex.org/W1984380208","https://openalex.org/W2019773616","https://openalex.org/W2027639364","https://openalex.org/W2048600308","https://openalex.org/W2054930183","https://openalex.org/W2056370235","https://openalex.org/W2064743507","https://openalex.org/W2089724372","https://openalex.org/W2091253371","https://openalex.org/W2095062552","https://openalex.org/W2097133442","https://openalex.org/W2101607950","https://openalex.org/W2102268591","https://openalex.org/W2103912721","https://openalex.org/W2107177130","https://openalex.org/W2119301680","https://openalex.org/W2128062626","https://openalex.org/W2133009136","https://openalex.org/W2133332802","https://openalex.org/W2133651102","https://openalex.org/W2134399407","https://openalex.org/W2149455028","https://openalex.org/W2151842026","https://openalex.org/W2156466787","https://openalex.org/W2159826786","https://openalex.org/W2161933891","https://openalex.org/W2164640872","https://openalex.org/W2537677282","https://openalex.org/W4233157442","https://openalex.org/W4252455350","https://openalex.org/W4285719527","https://openalex.org/W4300443332","https://openalex.org/W6675389441"],"related_works":["https://openalex.org/W2116307597","https://openalex.org/W1564882210","https://openalex.org/W3210836806","https://openalex.org/W1912407818","https://openalex.org/W2358719579","https://openalex.org/W2607353083","https://openalex.org/W4384930412","https://openalex.org/W4210712489","https://openalex.org/W2020829486","https://openalex.org/W2016451691"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"a":[5,17,30,58,75,108],"method":[6],"of":[7,20,50],"locomotion":[8],"control":[9,36],"for":[10,41,92],"underwater":[11],"vehicles":[12],"that":[13,62,78],"are":[14],"propelled":[15],"by":[16],"periodic":[18],"deformation":[19],"the":[21,28,64],"vehicle":[22],"body,":[23],"which":[24],"is":[25,104],"similar":[26],"to":[27],"way":[29],"fish":[31,65,72],"moves.":[32],"We":[33,94],"have":[34],"developed":[35],"laws":[37],"employing":[38],"ldquoextremum":[39],"seekingrdquo":[40],"two":[42],"different":[43],"ldquofishrdquo":[44],"models.":[45],"The":[46,70],"first":[47],"model":[48,73],"consists":[49],"three":[51],"rigid":[52],"body":[53],"links":[54],"and":[55,97],"relies":[56,88],"on":[57,68,89],"2-degree-of-freedom":[59],"(DOF)":[60],"movement":[61,85],"propels":[63],"without":[66],"relying":[67],"vortices.":[69],"second":[71],"uses":[74],"Joukowski":[76],"airfoil":[77],"has":[79],"only":[80],"1":[81],"DOF":[82],"in":[83],"its":[84],"and,":[86,101],"thus,":[87],"vortex":[90],"shedding":[91],"propulsion.":[93],"achieve":[95],"model-free":[96],"position-free":[98],"ldquosource":[99],"seeking,rdquo":[100],"if":[102],"position":[103],"available,":[105],"navigation":[106],"along":[107],"predetermined":[109],"path.":[110]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":11}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
