{"id":"https://openalex.org/W2539360790","doi":"https://doi.org/10.1109/codit.2016.7593596","title":"Robust distributed consensus of autonomous underwater vehicles in 3D space","display_name":"Robust distributed consensus of autonomous underwater vehicles in 3D space","publication_year":2016,"publication_date":"2016-04-01","ids":{"openalex":"https://openalex.org/W2539360790","doi":"https://doi.org/10.1109/codit.2016.7593596","mag":"2539360790"},"language":"en","primary_location":{"id":"doi:10.1109/codit.2016.7593596","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit.2016.7593596","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-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/A5042616885","display_name":"Morteza Mirzaei","orcid":"https://orcid.org/0000-0001-5568-2422"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Morteza Mirzaei","raw_affiliation_strings":["Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054285669","display_name":"Nader Meskin","orcid":"https://orcid.org/0000-0003-3098-9369"},"institutions":[{"id":"https://openalex.org/I60342839","display_name":"Qatar University","ror":"https://ror.org/00yhnba62","country_code":"QA","type":"education","lineage":["https://openalex.org/I60342839"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Nader Meskin","raw_affiliation_strings":["Department of Electrical Engineering, Qatar university, Doha, Qatar"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Qatar university, Doha, Qatar","institution_ids":["https://openalex.org/I60342839"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042263160","display_name":"Farzaneh Abdollahi","orcid":"https://orcid.org/0000-0003-4957-987X"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Farzaneh Abdollahi","raw_affiliation_strings":["Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5042616885"],"corresponding_institution_ids":["https://openalex.org/I158248296"],"apc_list":null,"apc_paid":null,"fwci":1.1581,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.81823931,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"52","issue":null,"first_page":"399","last_page":"404"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":1.0,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9984999895095825,"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":0.998199999332428,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.7220956683158875},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6550837159156799},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6405231952667236},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6325379610061646},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6029048562049866},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5941941738128662},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5867577791213989},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.5752249956130981},{"id":"https://openalex.org/keywords/unmanned-underwater-vehicle","display_name":"Unmanned underwater vehicle","score":0.560163140296936},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.559131383895874},{"id":"https://openalex.org/keywords/consensus","display_name":"Consensus","score":0.4827820360660553},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4764183759689331},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4741194546222687},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.4680929481983185},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4355728030204773},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.43142861127853394},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38332539796829224},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.373515784740448},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.285006046295166},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2602359652519226},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2521669268608093},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21422630548477173},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.17237529158592224},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16110986471176147},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.15845581889152527},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.15679991245269775},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12023860216140747},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.11416265368461609},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.10756069421768188}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.7220956683158875},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6550837159156799},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6405231952667236},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6325379610061646},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6029048562049866},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5941941738128662},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5867577791213989},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.5752249956130981},{"id":"https://openalex.org/C2778740559","wikidata":"https://www.wikidata.org/wiki/Q2496586","display_name":"Unmanned underwater vehicle","level":3,"score":0.560163140296936},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.559131383895874},{"id":"https://openalex.org/C107107730","wikidata":"https://www.wikidata.org/wiki/Q2994424","display_name":"Consensus","level":3,"score":0.4827820360660553},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4764183759689331},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4741194546222687},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.4680929481983185},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4355728030204773},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.43142861127853394},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38332539796829224},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.373515784740448},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.285006046295166},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2602359652519226},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2521669268608093},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21422630548477173},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.17237529158592224},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16110986471176147},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.15845581889152527},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.15679991245269775},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12023860216140747},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.11416265368461609},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.10756069421768188},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/codit.2016.7593596","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit.2016.7593596","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},{"id":"pmh:oai:qspace.qu.edu.qa:10576/20516","is_oa":false,"landing_page_url":"http://hdl.handle.net/10576/20516","pdf_url":null,"source":{"id":"https://openalex.org/S4306400014","display_name":"Qatar University QSpace (Qatar University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I60342839","host_organization_name":"Qatar University","host_organization_lineage":["https://openalex.org/I60342839"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1630241696","https://openalex.org/W2003432214","https://openalex.org/W2019274385","https://openalex.org/W2027392643","https://openalex.org/W2035625658","https://openalex.org/W2040094042","https://openalex.org/W2064193105","https://openalex.org/W2072694395","https://openalex.org/W2080817687","https://openalex.org/W2083974095","https://openalex.org/W2107396783","https://openalex.org/W2146445863","https://openalex.org/W2165744313","https://openalex.org/W2166103243","https://openalex.org/W2484117929","https://openalex.org/W2505012551","https://openalex.org/W6671575177"],"related_works":["https://openalex.org/W1577440474","https://openalex.org/W2981706417","https://openalex.org/W811900207","https://openalex.org/W2604586813","https://openalex.org/W1763276989","https://openalex.org/W4235285863","https://openalex.org/W2254436626","https://openalex.org/W2784470129","https://openalex.org/W2571549313","https://openalex.org/W2217718355"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"robust":[3],"distributed":[4],"consensus":[5,73,111],"of":[6,14,29,35,49,101,108],"autonomous":[7],"underwater":[8],"vehicles":[9,51],"(AUV)":[10],"in":[11,59,94,98],"the":[12,20,25,30,44,47,50,63,77,84,90,95,99,106,109],"presence":[13,100],"ocean":[15],"disturbances":[16],"is":[17,40,57],"investigated":[18],"where":[19],"considered":[21],"model":[22],"describes":[23],"both":[24],"kinematics":[26],"and":[27,46,66,71],"dynamics":[28],"AUV":[31],"with":[32],"six":[33],"degrees":[34],"freedom.":[36],"The":[37],"backstepping":[38],"technique":[39],"used":[41],"to":[42,52,82,87,89],"make":[43],"position":[45,70],"orientation":[48,72],"reach":[53],"a":[54],"consensus.":[55],"This":[56],"achieved":[58],"two":[60],"steps.":[61],"First":[62],"desired":[64,91],"linear":[65],"angular":[67],"velocities":[68,86],"for":[69],"are":[74,80,115],"calculated.":[75],"Then":[76],"control":[78],"torques":[79],"designed":[81],"force":[83],"vehicle":[85],"converge":[88],"ones":[92],"obtained":[93],"first":[96],"step":[97],"environmental":[102],"disturbances.":[103],"To":[104],"illustrate":[105],"performance":[107],"proposed":[110],"approaches,":[112],"simulation":[113],"results":[114],"provided.":[116]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
