{"id":"https://openalex.org/W1998216865","doi":"https://doi.org/10.1163/156855301317033568","title":"Sonar-based guidance of unmanned underwater vehicles","display_name":"Sonar-based guidance of unmanned underwater vehicles","publication_year":2001,"publication_date":"2001-01-01","ids":{"openalex":"https://openalex.org/W1998216865","doi":"https://doi.org/10.1163/156855301317033568","mag":"1998216865"},"language":"en","primary_location":{"id":"doi:10.1163/156855301317033568","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855301317033568","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5081810172","display_name":"Massimo Caccia","orcid":"https://orcid.org/0000-0002-4482-4541"},"institutions":[{"id":"https://openalex.org/I205887594","display_name":"Rina Services (Italy)","ror":"https://ror.org/0562tzd79","country_code":"IT","type":"company","lineage":["https://openalex.org/I205887594"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Caccia","raw_affiliation_strings":["a    Consiglio Nazionale delle Ricerche, Istituto Automazione Navale, Via De Marini 6, 16149 Genova, Italy","Consiglio Nazionale delle Ricerche, Istituto Automazione Navale, Via De Marini 6, 16149 Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"a    Consiglio Nazionale delle Ricerche, Istituto Automazione Navale, Via De Marini 6, 16149 Genova, Italy","institution_ids":["https://openalex.org/I205887594"]},{"raw_affiliation_string":"Consiglio Nazionale delle Ricerche, Istituto Automazione Navale, Via De Marini 6, 16149 Genova, Italy","institution_ids":["https://openalex.org/I205887594"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046989909","display_name":"Gabriele Bruzzone","orcid":"https://orcid.org/0000-0002-9569-1160"},"institutions":[{"id":"https://openalex.org/I205887594","display_name":"Rina Services (Italy)","ror":"https://ror.org/0562tzd79","country_code":"IT","type":"company","lineage":["https://openalex.org/I205887594"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"G. Bruzzone","raw_affiliation_strings":["b    Consiglio Nazionale delle Ricerche, Istituto Automazione Navale, Via De Marini 6, 16149 Genova, Italy","Consiglio Nazionale delle Ricerche, Istituto Automazione Navale, Via De Marini 6, 16149 Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"b    Consiglio Nazionale delle Ricerche, Istituto Automazione Navale, Via De Marini 6, 16149 Genova, Italy","institution_ids":["https://openalex.org/I205887594"]},{"raw_affiliation_string":"Consiglio Nazionale delle Ricerche, Istituto Automazione Navale, Via De Marini 6, 16149 Genova, Italy","institution_ids":["https://openalex.org/I205887594"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048608910","display_name":"G. Veruggio","orcid":null},"institutions":[{"id":"https://openalex.org/I205887594","display_name":"Rina Services (Italy)","ror":"https://ror.org/0562tzd79","country_code":"IT","type":"company","lineage":["https://openalex.org/I205887594"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"G. Veruggio","raw_affiliation_strings":["c    Consiglio Nazionale delle Ricerche, Istituto Automazione Navale, Via De Marini 6, 16149 Genova, Italy","Consiglio Nazionale delle Ricerche, Istituto Automazione Navale, Via De Marini 6, 16149 Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"c    Consiglio Nazionale delle Ricerche, Istituto Automazione Navale, Via De Marini 6, 16149 Genova, Italy","institution_ids":["https://openalex.org/I205887594"]},{"raw_affiliation_string":"Consiglio Nazionale delle Ricerche, Istituto Automazione Navale, Via De Marini 6, 16149 Genova, Italy","institution_ids":["https://openalex.org/I205887594"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.926,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.75956429,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"15","issue":"5","first_page":"551","last_page":"573"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9966999888420105,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9922999739646912,"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/underwater","display_name":"Underwater","score":0.687855064868927},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6046150922775269},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.55451899766922},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.552821695804596},{"id":"https://openalex.org/keywords/unmanned-underwater-vehicle","display_name":"Unmanned underwater vehicle","score":0.537383496761322},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5373116731643677},{"id":"https://openalex.org/keywords/sea-trial","display_name":"Sea trial","score":0.5307440757751465},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.5197562575340271},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4483887553215027},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43435001373291016},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.43329429626464844},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3695894479751587},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31544265151023865},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3122008442878723},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.18952402472496033},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.15603682398796082}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.687855064868927},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6046150922775269},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.55451899766922},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.552821695804596},{"id":"https://openalex.org/C2778740559","wikidata":"https://www.wikidata.org/wiki/Q2496586","display_name":"Unmanned underwater vehicle","level":3,"score":0.537383496761322},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5373116731643677},{"id":"https://openalex.org/C19724227","wikidata":"https://www.wikidata.org/wiki/Q1988181","display_name":"Sea trial","level":2,"score":0.5307440757751465},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.5197562575340271},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4483887553215027},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43435001373291016},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.43329429626464844},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3695894479751587},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31544265151023865},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3122008442878723},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.18952402472496033},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.15603682398796082},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855301317033568","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855301317033568","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322892","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1524433765","https://openalex.org/W1590684588","https://openalex.org/W1976071645","https://openalex.org/W1991358838","https://openalex.org/W1996159655","https://openalex.org/W2027974761","https://openalex.org/W2029373163","https://openalex.org/W2122075174","https://openalex.org/W2129496494","https://openalex.org/W2139026222","https://openalex.org/W2152380660","https://openalex.org/W2164491602","https://openalex.org/W2329756382","https://openalex.org/W2546893284","https://openalex.org/W2617608594","https://openalex.org/W2620645533","https://openalex.org/W4237715922"],"related_works":["https://openalex.org/W2125000526","https://openalex.org/W2189374665","https://openalex.org/W1577440474","https://openalex.org/W7911116","https://openalex.org/W2905212946","https://openalex.org/W1512561761","https://openalex.org/W2115821165","https://openalex.org/W2095093669","https://openalex.org/W1841455253","https://openalex.org/W212526951"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"paper":[2],"addresses":[3],"the":[4,7,23,31,46,64,74,92,125,131,134],"problem":[5],"of":[6,11,25,38,63,95,110,113,129,133],"design":[8],"and":[9,13,34,49,71,76,98,124,139],"coordination":[10],"guidance":[12,39,75,97],"sonarbased":[14],"motion":[15,99],"estimation":[16,100],"algorithms":[17],"for":[18,41,88],"unmanned":[19,116],"underwater":[20,117],"vehicles.":[21],"In":[22],"framework":[24],"a":[26,36,43,85,114],"two-layered":[27],"hierarchical":[28],"architecture":[29],"uncoupling":[30],"system's":[32],"dynamics":[33],"kinematics,":[35],"couple":[37],"laws":[40],"approaching":[42],"target":[44],"with":[45,57,73,84],"desired":[47],"orientation":[48],"following":[50,130],"an":[51],"environmental":[52],"feature":[53],"have":[54,68],"been":[55,69],"designed":[56,70],"Lyapunov-based":[58],"techniques.":[59],"Suitable":[60],"acoustic-based":[61],"estimators":[62],"corresponding":[65],"operational":[66],"variables":[67],"integrated":[72],"control":[77],"system.":[78],"A":[79],"finite":[80],"state":[81],"machine":[82],"combined":[83],"suitable":[86],"interface":[87],"event":[89],"generation":[90],"allows":[91],"coordinated":[93],"execution":[94],"basic":[96],"tasks":[101,123],"to":[102],"carry":[103],"out":[104],"more":[105,126],"complex":[106,127],"functions.":[107],"Experimental":[108],"results":[109],"pool":[111,136],"trials":[112],"prototype":[115],"vehicle":[118],"executing":[119],"free-space":[120],"maneuvering,":[121],"wall-following":[122],"mission":[128],"perimeter":[132],"trial":[135],"are":[137],"reported":[138],"discussed.":[140],"Keywords:":[141],"GUIDANCECONTROLMOTION":[142],"ESTIMATIONCOORDINATIONACOUSTICS":[143]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}