{"id":"https://openalex.org/W4413785860","doi":"https://doi.org/10.1109/tsmc.2025.3598281","title":"Energy-Efficiency Formation Control of AUVs via Angle Measurement: A Minimally Rigid-Based Solution","display_name":"Energy-Efficiency Formation Control of AUVs via Angle Measurement: A Minimally Rigid-Based Solution","publication_year":2025,"publication_date":"2025-08-28","ids":{"openalex":"https://openalex.org/W4413785860","doi":"https://doi.org/10.1109/tsmc.2025.3598281"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2025.3598281","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3598281","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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/A5109444076","display_name":"Zexing Tian","orcid":null},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zexing Tian","raw_affiliation_strings":["Department of Automation and the Key Laboratory of Intelligent Control and Neural Information Processing, Ministry of Education, Yanshan University, Qinhuangdao, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation and the Key Laboratory of Intelligent Control and Neural Information Processing, Ministry of Education, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101511054","display_name":"Jing Yan","orcid":"https://orcid.org/0000-0001-7768-5720"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Yan","raw_affiliation_strings":["Department of Automation and the Key Laboratory of Intelligent Control and Neural Information Processing, Ministry of Education, Yanshan University, Qinhuangdao, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation and the Key Laboratory of Intelligent Control and Neural Information Processing, Ministry of Education, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107482685","display_name":"Xian Yang","orcid":"https://orcid.org/0000-0002-9595-7280"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xian Yang","raw_affiliation_strings":["Department of Automation and the Key Laboratory of Intelligent Control and Neural Information Processing, Ministry of Education, Yanshan University, Qinhuangdao, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation and the Key Laboratory of Intelligent Control and Neural Information Processing, Ministry of Education, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038267080","display_name":"Cailian Chen","orcid":"https://orcid.org/0000-0001-6533-8713"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cailian Chen","raw_affiliation_strings":["School of Electronic Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064776495","display_name":"Xiaoyuan Luo","orcid":"https://orcid.org/0000-0003-0404-9533"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyuan Luo","raw_affiliation_strings":["Department of Automation and the Key Laboratory of Intelligent Control and Neural Information Processing, Ministry of Education, Yanshan University, Qinhuangdao, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation and the Key Laboratory of Intelligent Control and Neural Information Processing, Ministry of Education, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100935923","display_name":"Xinping Guan","orcid":"https://orcid.org/0000-0003-1858-8538"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinping Guan","raw_affiliation_strings":["School of Electronic Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5109444076"],"corresponding_institution_ids":["https://openalex.org/I39333907"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.24898472,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"55","issue":"11","first_page":"7729","last_page":"7743"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9987000226974487,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9987000226974487,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9975000023841858,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.987500011920929,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4920355975627899},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4131409227848053},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3464832305908203},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3256719708442688},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.25744569301605225},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08763781189918518}],"concepts":[{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4920355975627899},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4131409227848053},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3464832305908203},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3256719708442688},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.25744569301605225},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08763781189918518},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2025.3598281","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3598281","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8700000047683716,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G5273110821","display_name":null,"funder_award_id":"F2024203047","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G5364624347","display_name":null,"funder_award_id":"F2022203001","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G5722519110","display_name":null,"funder_award_id":"JCZX2025027","funder_id":"https://openalex.org/F4320321949","funder_display_name":"Department of Education of Hebei Province"},{"id":"https://openalex.org/G6780300185","display_name":null,"funder_award_id":"F2024203072","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G8939714713","display_name":null,"funder_award_id":"62222314","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/F4320321949","display_name":"Department of Education of Hebei Province","ror":"https://ror.org/01jkyjd96"},{"id":"https://openalex.org/F4320322163","display_name":"Natural Science Foundation of Hebei Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W2040135213","https://openalex.org/W2568019971","https://openalex.org/W2793521335","https://openalex.org/W2809685089","https://openalex.org/W2906829782","https://openalex.org/W2963729305","https://openalex.org/W2964812382","https://openalex.org/W3005500393","https://openalex.org/W3017947738","https://openalex.org/W3045516846","https://openalex.org/W3065335111","https://openalex.org/W3087869918","https://openalex.org/W3156476459","https://openalex.org/W3183507178","https://openalex.org/W3200276130","https://openalex.org/W4213251304","https://openalex.org/W4226079571","https://openalex.org/W4281753482","https://openalex.org/W4292975829","https://openalex.org/W4306910464","https://openalex.org/W4312247285","https://openalex.org/W4312560475","https://openalex.org/W4312683003","https://openalex.org/W4313642983","https://openalex.org/W4317705301","https://openalex.org/W4319994153","https://openalex.org/W4367359622","https://openalex.org/W4380681917","https://openalex.org/W4383890571","https://openalex.org/W4384519058","https://openalex.org/W4385819675","https://openalex.org/W4385976116","https://openalex.org/W4390965199","https://openalex.org/W4391164113","https://openalex.org/W4399401362","https://openalex.org/W4403060938","https://openalex.org/W4403769622","https://openalex.org/W4406014857"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Formation":[0],"control":[1],"of":[2,13,45,142],"autonomous":[3],"underwater":[4],"vehicles":[5],"(AUVs)":[6],"has":[7],"been":[8],"regarded":[9],"as":[10,125,164,186],"the":[11,19,24,51,59,67,89,114,128,136,139,145,155,160,167,173,201],"basis":[12],"many":[14],"sophisticated":[15],"marine":[16,21],"missions.":[17],"However,":[18],"complex":[20],"environment":[22],"and":[23,95,158,171,182,193],"high":[25],"communication":[26,92,161],"energy":[27,93,162],"consumption":[28,163],"make":[29],"it":[30],"hard":[31],"to":[32,57,87,109,112,166,188,199],"achieve":[33],"this":[34,132,151],"task.":[35],"This":[36],"article":[37,133,152],"is":[38,55,85,107],"concerned":[39],"with":[40],"an":[41],"energy-efficiency":[42],"formation":[43,105,156],"issue":[44],"AUVs":[46,71,111],"via":[47],"angle":[48,80,129,147],"measurement.":[49],"Particularly,":[50],"single":[52],"vector":[53],"hydrophone":[54],"used":[56],"measure":[58],"single-frequency":[60],"signal":[61],"emitted":[62],"by":[63],"AUVs,":[64],"through":[65],"which":[66],"relative":[68],"angles":[69],"among":[70],"can":[72,134,153,176],"be":[73],"estimated.":[74],"Based":[75],"on":[76,138],"this,":[77],"a":[78,99,118],"minimally":[79,146],"rigid":[81,148],"topology":[82,96,149],"generation":[83],"algorithm":[84],"designed":[86],"balance":[88],"tradeoff":[90],"between":[91],"efficiency":[94],"connectivity,":[97],"while":[98,116],"model-free":[100],"inverse":[101],"reinforcement":[102],"learning":[103],"(IRL)-based":[104],"controller":[106,175],"developed":[108],"steer":[110],"reach":[113],"target":[115],"maintaining":[117],"specific":[119],"shape.":[120],"The":[121],"innovations":[122],"are":[123,196],"summarized":[124],"follows:":[126],"1)":[127],"measurement":[130],"in":[131,150],"eliminate":[135],"reliance":[137],"position":[140],"information":[141],"AUVs;":[143],"2)":[144],"improve":[154,183],"stability":[157],"reduce":[159],"compared":[165,187],"neighboring":[168],"rule-based":[169],"solutions;":[170],"3)":[172],"IRL-based":[174],"avoid":[177],"manually":[178],"designing":[179],"cost":[180],"functions":[181],"environmental":[184],"adaptability":[185],"traditional-learning-based":[189],"controllers.":[190],"Finally,":[191],"simulation":[192],"experimental":[194],"results":[195],"both":[197],"conducted":[198],"verify":[200],"effectiveness.":[202]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}