{"id":"https://openalex.org/W3198069538","doi":"https://doi.org/10.1109/tvt.2021.3066482","title":"Real-Time Path Planning and Following of a Gliding Robotic Dolphin Within a Hierarchical Framework","display_name":"Real-Time Path Planning and Following of a Gliding Robotic Dolphin Within a Hierarchical Framework","publication_year":2021,"publication_date":"2021-03-17","ids":{"openalex":"https://openalex.org/W3198069538","doi":"https://doi.org/10.1109/tvt.2021.3066482","mag":"3198069538"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2021.3066482","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2021.3066482","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5100370574","display_name":"Jian Wang","orcid":"https://orcid.org/0000-0003-3742-9671"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jian Wang","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","sSchool of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]},{"raw_affiliation_string":"sSchool of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001123312","display_name":"Zhengxing Wu","orcid":"https://orcid.org/0000-0003-2338-5217"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengxing Wu","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","sSchool of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]},{"raw_affiliation_string":"sSchool of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031610779","display_name":"Shuaizheng Yan","orcid":"https://orcid.org/0000-0001-7955-429X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuaizheng Yan","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","sSchool of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]},{"raw_affiliation_string":"sSchool of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024708104","display_name":"Min Tan","orcid":"https://orcid.org/0000-0002-1986-8438"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Tan","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","sSchool of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]},{"raw_affiliation_string":"sSchool of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073958329","display_name":"Junzhi Yu","orcid":"https://orcid.org/0000-0002-6347-572X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzhi Yu","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Peking University, Beijing, China","State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100370574"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210100255","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":4.6797,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.95090266,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"70","issue":"4","first_page":"3243","last_page":"3255"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"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":1.0,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9980999827384949,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9968000054359436,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.797187328338623},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.705330491065979},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5991184711456299},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.551663339138031},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5328360795974731},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5152371525764465},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5025320053100586},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47677046060562134},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.44239675998687744},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.44183623790740967},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.366558313369751},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36380535364151},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3493920564651489},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3294755816459656},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.30489635467529297},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28925660252571106},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22630321979522705}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.797187328338623},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.705330491065979},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5991184711456299},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.551663339138031},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5328360795974731},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5152371525764465},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5025320053100586},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47677046060562134},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.44239675998687744},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.44183623790740967},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.366558313369751},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36380535364151},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3493920564651489},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3294755816459656},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.30489635467529297},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28925660252571106},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22630321979522705},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/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/tvt.2021.3066482","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2021.3066482","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8600000143051147,"display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G2794432786","display_name":null,"funder_award_id":"61725305","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2921093364","display_name":null,"funder_award_id":"61633017","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6991452110","display_name":null,"funder_award_id":"QYZDJ-SSW-JSC004","funder_id":"https://openalex.org/F4320336758","funder_display_name":"Key Project of Frontier Science Research of Chinese Academy of Sciences"},{"id":"https://openalex.org/G8732266741","display_name":null,"funder_award_id":"61836015","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G994643190","display_name":null,"funder_award_id":"61633020","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/F4320336758","display_name":"Key Project of Frontier Science Research of Chinese Academy of Sciences","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1608215728","https://openalex.org/W1986024064","https://openalex.org/W2020476125","https://openalex.org/W2047591814","https://openalex.org/W2061296863","https://openalex.org/W2062373349","https://openalex.org/W2146500120","https://openalex.org/W2147137560","https://openalex.org/W2289691941","https://openalex.org/W2323495180","https://openalex.org/W2527390664","https://openalex.org/W2532691423","https://openalex.org/W2539578877","https://openalex.org/W2570882867","https://openalex.org/W2590116986","https://openalex.org/W2623317660","https://openalex.org/W2725976995","https://openalex.org/W2726276097","https://openalex.org/W2793128170","https://openalex.org/W2900861938","https://openalex.org/W2908107206","https://openalex.org/W2943411039","https://openalex.org/W2944533946","https://openalex.org/W2980621770","https://openalex.org/W2996477139","https://openalex.org/W2998722501","https://openalex.org/W3002144883","https://openalex.org/W3032586311","https://openalex.org/W4301018745"],"related_works":["https://openalex.org/W2050548713","https://openalex.org/W4380590094","https://openalex.org/W3119736302","https://openalex.org/W3200041777","https://openalex.org/W1847613412","https://openalex.org/W4386464271","https://openalex.org/W2015961810","https://openalex.org/W2956606787","https://openalex.org/W3036618925","https://openalex.org/W2153702122"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,15,20,40,85,134],"novel":[4,41],"hierarchical":[5,42],"framework":[6],"to":[7,30,46,73,114,137],"achieve":[8],"real-time":[9],"path":[10,22,52],"planning":[11],"and":[12,24,53,57,93,123],"following":[13,27],"for":[14],"gliding":[16],"robotic":[17],"dolphin,":[18],"including":[19],"learning-based":[21],"planner":[23],"an":[25,69],"adaptive":[26],"controller.":[28],"Subsequent":[29],"considering":[31],"higher":[32],"intelligence":[33],"in":[34,97],"unknown":[35,108],"ocean":[36,139],"environment,":[37],"we":[38,67,83],"present":[39],"deep":[43],"Q-network":[44],"method":[45,72],"separately":[47],"plan":[48],"the":[49,54,63,75,98,107,116,127,130],"collision":[50],"avoidance":[51],"approach":[55],"path,":[56],"also":[58],"design":[59],"different":[60],"continuous-states":[61],"under":[62],"kinematic":[64],"constraints.":[65],"Next,":[66],"adopt":[68],"improved":[70],"line-of-sight":[71],"obtain":[74],"desired":[76],"points":[77],"from":[78],"planned":[79],"path.":[80],"More":[81],"importantly,":[82],"derive":[84],"nonlinear":[86],"control":[87],"law":[88,99],"based":[89],"on":[90],"backstepping":[91],"technique,":[92],"specially":[94],"avoid":[95],"singularities":[96],"derivation":[100],"using":[101],"barrier":[102],"Lyapunov":[103],"function.":[104],"In":[105],"particular,":[106],"model":[109],"parameters":[110],"are":[111],"adaptively":[112],"calculated":[113],"make":[115],"controller":[117],"more":[118],"robust.":[119],"Finally,":[120],"extensive":[121],"simulation":[122],"experimental":[124],"results":[125],"verify":[126],"effectiveness":[128],"of":[129],"proposed":[131],"methods,":[132],"providing":[133],"new":[135],"idea":[136],"further":[138],"exploration.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":12}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
