{"id":"https://openalex.org/W2164313740","doi":"https://doi.org/10.1109/tsmcb.2012.2210212","title":"Dynamic Task Assignment and Path Planning of Multi-AUV System Based on an Improved Self-Organizing Map and Velocity Synthesis Method in Three-Dimensional Underwater Workspace","display_name":"Dynamic Task Assignment and Path Planning of Multi-AUV System Based on an Improved Self-Organizing Map and Velocity Synthesis Method in Three-Dimensional Underwater Workspace","publication_year":2012,"publication_date":"2012-08-27","ids":{"openalex":"https://openalex.org/W2164313740","doi":"https://doi.org/10.1109/tsmcb.2012.2210212","mag":"2164313740","pmid":"https://pubmed.ncbi.nlm.nih.gov/22949070"},"language":"en","primary_location":{"id":"doi:10.1109/tsmcb.2012.2210212","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmcb.2012.2210212","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5002059219","display_name":"Daqi Zhu","orcid":"https://orcid.org/0000-0001-7252-4952"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daqi Zhu","raw_affiliation_strings":["Laboratory of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai, China","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047072935","display_name":"Huan Huang","orcid":"https://orcid.org/0000-0002-7256-4548"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huan Huang","raw_affiliation_strings":["Laboratory of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai, China","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029827598","display_name":"Simon X. Yang","orcid":"https://orcid.org/0000-0002-6888-7993"},"institutions":[{"id":"https://openalex.org/I79817857","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59","country_code":"CA","type":"education","lineage":["https://openalex.org/I79817857"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"S. X. Yang","raw_affiliation_strings":["Advanced Robotics and Intelligent Systems Laboratory, School of Engineering, University of Guelph, Guelph, ONT, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics and Intelligent Systems Laboratory, School of Engineering, University of Guelph, Guelph, ONT, Canada","institution_ids":["https://openalex.org/I79817857"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":31.5898,"has_fulltext":false,"cited_by_count":247,"citation_normalized_percentile":{"value":0.99848398,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"43","issue":"2","first_page":"504","last_page":"514"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996399998664856,"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/workspace","display_name":"Workspace","score":0.8052414655685425},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6101688146591187},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5715428590774536},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5691556334495544},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.567736029624939},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5289376378059387},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5009355545043945},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.49318116903305054},{"id":"https://openalex.org/keywords/self-organizing-map","display_name":"Self-organizing map","score":0.45998209714889526},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.43571534752845764},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.38138043880462646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.353995680809021},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2455267608165741},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23481887578964233},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1259048879146576},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11336511373519897}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8052414655685425},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6101688146591187},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5715428590774536},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5691556334495544},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.567736029624939},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5289376378059387},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5009355545043945},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.49318116903305054},{"id":"https://openalex.org/C111168008","wikidata":"https://www.wikidata.org/wiki/Q1136838","display_name":"Self-organizing map","level":3,"score":0.45998209714889526},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.43571534752845764},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38138043880462646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.353995680809021},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2455267608165741},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23481887578964233},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1259048879146576},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11336511373519897},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tsmcb.2012.2210212","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmcb.2012.2210212","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:22949070","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/22949070","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W129976106","https://openalex.org/W324332537","https://openalex.org/W777673443","https://openalex.org/W1533116880","https://openalex.org/W1550326316","https://openalex.org/W1586878944","https://openalex.org/W1983379677","https://openalex.org/W1983459530","https://openalex.org/W1986197342","https://openalex.org/W2023253293","https://openalex.org/W2051629092","https://openalex.org/W2102145388","https://openalex.org/W2103369267","https://openalex.org/W2104709174","https://openalex.org/W2110944602","https://openalex.org/W2112724282","https://openalex.org/W2112800489","https://openalex.org/W2113014481","https://openalex.org/W2113023534","https://openalex.org/W2117065246","https://openalex.org/W2120434311","https://openalex.org/W2121638568","https://openalex.org/W2127817500","https://openalex.org/W2131259937","https://openalex.org/W2142740248","https://openalex.org/W2146500120","https://openalex.org/W2162161511","https://openalex.org/W2164575269","https://openalex.org/W2167011086","https://openalex.org/W2171697145","https://openalex.org/W6678099253"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1999333556","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103"],"abstract_inverted_index":{"For":[0],"a":[1,6,36,46,94,161],"3-D":[2,104],"underwater":[3,14],"workspace":[4],"with":[5],"variable":[7,82,170],"ocean":[8,83,105,167],"current,":[9],"an":[10],"integrated":[11],"multiple":[12,100],"autonomous":[13],"vehicle":[15],"(AUV)":[16],"dynamic":[17,162],"task":[18],"assignment":[19],"and":[20,35,66,74,134,171],"path":[21,151],"planning":[22],"algorithm":[23],"is":[24,43,90,145],"proposed":[25,182],"by":[26],"combing":[27],"the":[28,61,71,78,81,86,114,119,122,126,128,131,135,141,149,157,166,178,181],"improved":[29],"self-organizing":[30],"map":[31],"(SOM)":[32],"neural":[33,116],"network":[34,89],"novel":[37],"velocity":[38,142],"synthesis":[39,143],"approach.":[40],"The":[41,107],"goal":[42],"to":[44,50,92,98,124,137,147,155,165,176],"control":[45],"team":[47,95],"of":[48,63,80,96,113,118,130,180],"AUVs":[49,97],"reach":[51],"all":[52],"appointed":[53],"target":[54,101,159],"locations":[55,102],"for":[56,152],"only":[57],"one":[58],"time":[59],"on":[60],"premise":[62],"workload":[64],"balance":[65],"energy":[67],"sufficiency":[68],"while":[69],"guaranteeing":[70],"least":[72],"total":[73],"individual":[75],"consumption":[76],"in":[77,103,160,188],"presence":[79],"current.":[84],"First,":[85],"SOM":[87,120],"neuron":[88],"developed":[91],"assign":[93],"achieve":[99],"environment.":[106],"working":[108],"process":[109],"involves":[110],"special":[111],"definition":[112],"initial":[115],"weights":[117],"network,":[121],"rule":[123],"select":[125],"winner,":[127],"computation":[129],"neighborhood":[132],"function,":[133],"method":[136],"update":[138],"weights.":[139],"Then,":[140],"approach":[144],"applied":[146],"plan":[148],"shortest":[150],"each":[153],"AUV":[154],"visit":[156],"corresponding":[158],"environment":[163],"subject":[164],"current":[168],"being":[169,173],"targets":[172],"movable.":[174],"Lastly,":[175],"demonstrate":[177],"effectiveness":[179],"approach,":[183],"simulation":[184],"results":[185],"are":[186],"given":[187],"this":[189],"paper.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":22},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":20},{"year":2019,"cited_by_count":26},{"year":2018,"cited_by_count":29},{"year":2017,"cited_by_count":16},{"year":2016,"cited_by_count":12},{"year":2015,"cited_by_count":27},{"year":2014,"cited_by_count":22},{"year":2013,"cited_by_count":4}],"updated_date":"2026-08-06T08:24:18.245995","created_date":"2025-10-10T00:00:00"}
