{"id":"https://openalex.org/W3007163307","doi":"https://doi.org/10.1109/tro.2019.2956343","title":"Online State Estimation of a Fin-Actuated Underwater Robot Using Artificial Lateral Line System","display_name":"Online State Estimation of a Fin-Actuated Underwater Robot Using Artificial Lateral Line System","publication_year":2020,"publication_date":"2020-02-20","ids":{"openalex":"https://openalex.org/W3007163307","doi":"https://doi.org/10.1109/tro.2019.2956343","mag":"3007163307"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2019.2956343","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2956343","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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/A5027505331","display_name":"Xingwen Zheng","orcid":"https://orcid.org/0000-0003-4993-1896"},"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/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingwen Zheng","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4993-1896","affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100392285","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0003-4023-2845"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["Computer Science and Artificial Intelligence Lab and the Department of Urban Studies and Planning, Massachusetts Institute of Technology, Cambridge, USA"],"raw_orcid":"https://orcid.org/0000-0003-4023-2845","affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Lab and the Department of Urban Studies and Planning, Massachusetts Institute of Technology, Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101071477","display_name":"Minglei Xiong","orcid":null},"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/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minglei Xiong","raw_affiliation_strings":["Boya Gongdao (Beijing) Robot Technology Company, Ltd., Beijing, China","State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boya Gongdao (Beijing) Robot Technology Company, Ltd., Beijing, China","institution_ids":["https://openalex.org/I4210144102"]},{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044920558","display_name":"Guangming Xie","orcid":"https://orcid.org/0000-0001-6504-0087"},"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/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangming Xie","raw_affiliation_strings":["Institute of Ocean Research, Peking University, Beijing, China","Peng Cheng Laboratory, Shenzhen, China","State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6504-0087","affiliations":[{"raw_affiliation_string":"Institute of Ocean Research, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Peng Cheng Laboratory, Shenzhen, China","institution_ids":["https://openalex.org/I4210136793"]},{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.3589,"has_fulltext":false,"cited_by_count":94,"citation_normalized_percentile":{"value":0.9829674,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"36","issue":"2","first_page":"472","last_page":"487"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T12697","display_name":"Water Quality Monitoring Technologies","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2312","display_name":"Water Science and Technology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental 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":0.993399977684021,"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/trajectory","display_name":"Trajectory","score":0.7135684490203857},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5831922292709351},{"id":"https://openalex.org/keywords/linear-motion","display_name":"Linear motion","score":0.572990894317627},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5028002262115479},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.474776953458786},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.460487425327301},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45836174488067627},{"id":"https://openalex.org/keywords/circular-motion","display_name":"Circular motion","score":0.454571008682251},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4455922245979309},{"id":"https://openalex.org/keywords/motion-system","display_name":"Motion system","score":0.433759868144989},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.4266952872276306},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4257129430770874},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40954315662384033},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35661229491233826},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33823102712631226},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19930145144462585},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.13565632700920105},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.10033401846885681},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09641358256340027}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7135684490203857},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5831922292709351},{"id":"https://openalex.org/C98068282","wikidata":"https://www.wikidata.org/wiki/Q2035846","display_name":"Linear motion","level":3,"score":0.572990894317627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5028002262115479},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.474776953458786},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.460487425327301},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45836174488067627},{"id":"https://openalex.org/C127635394","wikidata":"https://www.wikidata.org/wiki/Q715746","display_name":"Circular motion","level":2,"score":0.454571008682251},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4455922245979309},{"id":"https://openalex.org/C100673868","wikidata":"https://www.wikidata.org/wiki/Q6917799","display_name":"Motion system","level":3,"score":0.433759868144989},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.4266952872276306},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4257129430770874},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40954315662384033},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35661229491233826},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33823102712631226},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19930145144462585},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.13565632700920105},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.10033401846885681},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09641358256340027},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2019.2956343","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2956343","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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":[{"score":0.7200000286102295,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G2616550356","display_name":"\u8fd1\u6d45\u6d77\u6c34\u4e0b\u6355\u635e\u673a\u5668\u4eba\u7684\u57fa\u7840\u7406\u8bba\u4e0e\u5173\u952e\u6280\u672f\u7814\u7a76","funder_award_id":"61633002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5913841555","display_name":null,"funder_award_id":"4192026","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G6462188312","display_name":null,"funder_award_id":"91648120","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G649634298","display_name":null,"funder_award_id":"51575005","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/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W561217659","https://openalex.org/W921373215","https://openalex.org/W1500111801","https://openalex.org/W1970603273","https://openalex.org/W1975595002","https://openalex.org/W1977259275","https://openalex.org/W1980635453","https://openalex.org/W1988990032","https://openalex.org/W1998539458","https://openalex.org/W1999559686","https://openalex.org/W2004990111","https://openalex.org/W2025671033","https://openalex.org/W2059338380","https://openalex.org/W2061479062","https://openalex.org/W2063282235","https://openalex.org/W2071747803","https://openalex.org/W2104467353","https://openalex.org/W2104630886","https://openalex.org/W2109749443","https://openalex.org/W2121805556","https://openalex.org/W2127156632","https://openalex.org/W2134690714","https://openalex.org/W2149738939","https://openalex.org/W2158057652","https://openalex.org/W2209211510","https://openalex.org/W2265102272","https://openalex.org/W2289371346","https://openalex.org/W2309430239","https://openalex.org/W2410762327","https://openalex.org/W2518077139","https://openalex.org/W2564987336","https://openalex.org/W2567198148","https://openalex.org/W2588199515","https://openalex.org/W2600108310","https://openalex.org/W2619868095","https://openalex.org/W2735214543","https://openalex.org/W2757935016","https://openalex.org/W2783448638","https://openalex.org/W2789542624","https://openalex.org/W2792412476","https://openalex.org/W2801503292","https://openalex.org/W2890420367","https://openalex.org/W6644809106","https://openalex.org/W6749033050"],"related_works":["https://openalex.org/W3038234800","https://openalex.org/W2579585291","https://openalex.org/W2157883755","https://openalex.org/W2125696972","https://openalex.org/W4255537024","https://openalex.org/W2136084538","https://openalex.org/W2280328181","https://openalex.org/W1515080062","https://openalex.org/W168707859","https://openalex.org/W2684684854"],"abstract_inverted_index":{"A":[0],"lateral":[1,33],"line":[2,34],"system":[3],"is":[4,114,123,159,182],"a":[5,29,57,99,118,155],"flow-responsive":[6],"organ":[7],"system,":[8],"with":[9,193,198],"which":[10],"fish":[11,24,61,113,167,181],"can":[12,138],"effectively":[13],"sense":[14],"the":[15,92,111,127,132,143,148,152,165,170,179,189,194],"surrounding":[16,110],"flow":[17],"field,":[18],"thus":[19],"serving":[20],"functions":[21],"in":[22,62,188],"flow-aided":[23],"behaviors.":[25],"Inspired":[26],"by":[27,141,151],"such":[28],"biological":[30],"characteristic,":[31],"artificial":[32],"systems":[35],"(ALLSs)":[36],"have":[37],"been":[38],"developed":[39],"for":[40,96,125,161],"promoting":[41],"technological":[42],"innovations":[43],"of":[44,56,91,164,196],"underwater":[45],"robots.":[46],"In":[47],"this":[48],"article,":[49],"we":[50],"focus":[51],"on":[52,131,169],"investigating":[53],"state":[54,76],"estimation":[55,157,200],"freely":[58],"swimming":[59],"robotic":[60,93,112,166,180],"multiple":[63,191],"motions,":[64],"including":[65,81],"rectilinear":[66],"motion,":[67,69,71,98],"turning":[68],"gliding":[70],"and":[72,89],"spiral":[73],"motion.":[74],"The":[75,174],"refers":[77],"to":[78,108,184],"motion":[79,86,106,136,172],"parameters,":[80],"linear":[82,119],"velocity,":[83,85],"angular":[84],"radius,":[87],"etc.,":[88],"trajectory":[90,156,163,187],"fish.":[94],"Specifically,":[95],"each":[97],"pressure":[100],"variation":[101],"(PV)":[102],"model":[103,128,145],"that":[104,178],"links":[105],"parameters":[107,137],"PVs":[109,149],"first":[115],"built;":[116],"then,":[117],"regression":[120],"analysis":[121],"method":[122,158],"used":[124],"determining":[126],"parameters.":[129,173],"Based":[130],"acquired":[133],"PV":[134,144],"model,":[135],"be":[139],"estimated":[140],"solving":[142],"inversely":[146],"using":[147],"measured":[150],"ALLS.":[153],"Finally,":[154],"proposed":[160],"estimating":[162],"based":[168],"ALLS-estimated":[171],"experimental":[175],"results":[176],"show":[177],"able":[183],"estimate":[185],"its":[186],"aforementioned":[190],"motions":[192],"aid":[195],"ALLS,":[197],"small":[199],"errors.":[201]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":4}],"updated_date":"2026-07-07T14:30:12.667765","created_date":"2025-10-10T00:00:00"}
