{"id":"https://openalex.org/W832321112","doi":"https://doi.org/10.1177/0278364915585396","title":"Toward efficient navigation in uncertain gyre-like flows","display_name":"Toward efficient navigation in uncertain gyre-like flows","publication_year":2015,"publication_date":"2015-07-08","ids":{"openalex":"https://openalex.org/W832321112","doi":"https://doi.org/10.1177/0278364915585396","mag":"832321112"},"language":"en","primary_location":{"id":"doi:10.1177/0278364915585396","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915585396","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5009328815","display_name":"Christoffer Heckman","orcid":"https://orcid.org/0000-0002-9651-6866"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Christoffer R. Heckman","raw_affiliation_strings":["Autonomous Robotics and Perception Group, Department of Computer Science, University of Colorado, USA","Autonomous Robotics and Perception Group, Department of Computer Science, University of Colorado, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Robotics and Perception Group, Department of Computer Science, University of Colorado, USA","institution_ids":[]},{"raw_affiliation_string":"Autonomous Robotics and Perception Group, Department of Computer Science, University of Colorado, USA#TAB#","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020884951","display_name":"Ira B. Schwartz","orcid":"https://orcid.org/0000-0001-5999-2524"},"institutions":[{"id":"https://openalex.org/I1288214837","display_name":"United States Naval Research Laboratory","ror":"https://ror.org/04d23a975","country_code":"US","type":"facility","lineage":["https://openalex.org/I1288214837","https://openalex.org/I1330347796","https://openalex.org/I175003984","https://openalex.org/I3130687028"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ira B. Schwartz","raw_affiliation_strings":["Nonlinear Systems Dynamics Section, Plasma Physics Division, US Naval Research Laboratory, Washington, USA","Nonlinear Systems Dynamics Section, Plasma Physics Division, US Naval Research Laboratory, Washington, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nonlinear Systems Dynamics Section, Plasma Physics Division, US Naval Research Laboratory, Washington, USA","institution_ids":[]},{"raw_affiliation_string":"Nonlinear Systems Dynamics Section, Plasma Physics Division, US Naval Research Laboratory, Washington, USA#TAB#","institution_ids":["https://openalex.org/I1288214837"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042002060","display_name":"M. Ani Hsieh","orcid":"https://orcid.org/0000-0003-2186-9074"},"institutions":[{"id":"https://openalex.org/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Ani Hsieh","raw_affiliation_strings":["Mechanical Engineering and Mechanics Department, Drexel University, USA","[Mechanical Engineering and Mechanics Department, Drexel University, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering and Mechanics Department, Drexel University, USA","institution_ids":["https://openalex.org/I72816309"]},{"raw_affiliation_string":"[Mechanical Engineering and Mechanics Department, Drexel University, USA]","institution_ids":["https://openalex.org/I72816309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5009328815"],"corresponding_institution_ids":["https://openalex.org/I188538660"],"apc_list":null,"apc_paid":null,"fwci":0.6959,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.68848353,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"34","issue":"13","first_page":"1590","last_page":"1603"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11261","display_name":"Quantum chaos and dynamical systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11261","display_name":"Quantum chaos and dynamical systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13187","display_name":"Diffusion and Search Dynamics","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9836999773979187,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6993250250816345},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5362256169319153},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48874330520629883},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.48173287510871887},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45384588837623596},{"id":"https://openalex.org/keywords/statistical-physics","display_name":"Statistical physics","score":0.3559744954109192},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.32316023111343384},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27845871448516846},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23691511154174805},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19059553742408752},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1747068464756012},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16679862141609192},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1393248736858368}],"concepts":[{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6993250250816345},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5362256169319153},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48874330520629883},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.48173287510871887},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45384588837623596},{"id":"https://openalex.org/C121864883","wikidata":"https://www.wikidata.org/wiki/Q677916","display_name":"Statistical physics","level":1,"score":0.3559744954109192},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.32316023111343384},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27845871448516846},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23691511154174805},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19059553742408752},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1747068464756012},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16679862141609192},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1393248736858368},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364915585396","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915585396","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W295409270","https://openalex.org/W578412335","https://openalex.org/W1015167795","https://openalex.org/W1552736770","https://openalex.org/W1970332306","https://openalex.org/W1971419620","https://openalex.org/W1975585410","https://openalex.org/W1977281438","https://openalex.org/W1980534553","https://openalex.org/W1984559410","https://openalex.org/W1986142001","https://openalex.org/W1987213780","https://openalex.org/W1992214256","https://openalex.org/W2013160470","https://openalex.org/W2021611402","https://openalex.org/W2035487710","https://openalex.org/W2043699726","https://openalex.org/W2050480609","https://openalex.org/W2057235886","https://openalex.org/W2057759797","https://openalex.org/W2060408143","https://openalex.org/W2072956651","https://openalex.org/W2084755618","https://openalex.org/W2091916966","https://openalex.org/W2092683308","https://openalex.org/W2100986500","https://openalex.org/W2113014481","https://openalex.org/W2116373360","https://openalex.org/W2116789828","https://openalex.org/W2118313998","https://openalex.org/W2120133170","https://openalex.org/W2121054762","https://openalex.org/W2127560285","https://openalex.org/W2134315460","https://openalex.org/W2135284429","https://openalex.org/W2141702337","https://openalex.org/W2142705361","https://openalex.org/W2145686320","https://openalex.org/W2146180594","https://openalex.org/W2159286112","https://openalex.org/W2161948930","https://openalex.org/W2162752666","https://openalex.org/W2166485214","https://openalex.org/W2169006217","https://openalex.org/W2174234596","https://openalex.org/W3026026050","https://openalex.org/W3099410632","https://openalex.org/W3099719098","https://openalex.org/W3106534923","https://openalex.org/W4241638632","https://openalex.org/W4248865915","https://openalex.org/W4253069708"],"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":{"We":[0,28,76,148],"present":[1],"the":[2,16,31,36,56,71,97,111,131,135,151,165,178,188,191],"development":[3],"and":[4,19,69,87,156,181,197],"experimental":[5],"validation":[6],"of":[7,35,38,41,73,113,134,190],"an":[8,124],"autonomous":[9],"surface/underwater":[10],"vehicle":[11,153,167],"control":[12,154,168,198],"strategy":[13,128,155],"that":[14,30,59,129,164],"leverages":[15,130],"environmental":[17],"dynamics":[18,133],"uncertainty":[20],"to":[21,96,177],"navigate":[22],"in":[23,55,64,143,185],"a":[24,39,78,144,171],"stochastic":[25],"fluidic":[26,146],"environment.":[27,147],"assume":[29],"workspace":[32],"is":[33,123,182,193,200],"composed":[34],"union":[37],"collection":[40],"disjoint":[42],"regions,":[43],"each":[44],"bounded":[45],"by":[46],"Lagrangian":[47],"coherent":[48],"structures":[49],"(LCSs).":[50],"LCSs":[51],"are":[52],"dynamical":[53,67],"features":[54],"flow":[57,137,192],"field":[58,138],"behave":[60],"like":[61],"invariant":[62],"manifolds":[63],"general":[65],"time-invariant":[66],"systems":[68],"delineate":[70],"boundaries":[72],"attraction":[74],"basins.":[75],"analyze":[77,157],"passive":[79],"particle\u2019s":[80],"noise-induced":[81],"transition":[82,98,114],"between":[83,100],"adjacent":[84,101],"LCS-bounded":[85,102],"regions":[86,103],"show":[88,109,163],"how":[89,110],"most":[90],"probable":[91],"escape":[92,179],"trajectories":[93],"with":[94,175],"respect":[95,176],"probability":[99],"can":[104,115],"be":[105,116],"determined.":[106],"Additionally,":[107],"we":[108],"likelihood":[112],"controlled":[117],"through":[118],"minimal":[119],"actuation.":[120],"The":[121],"result":[122],"energy":[125],"efficient":[126],"navigation":[127],"inherent":[132],"surrounding":[136],"for":[139],"mobile":[140],"sensors":[141],"operating":[142],"noisy":[145],"experimentally":[149],"validate":[150],"proposed":[152],"its":[158],"theoretical":[159],"properties.":[160],"Our":[161],"results":[162],"single":[166],"parameter":[169],"exhibits":[170],"predictable":[172],"exponential":[173],"scaling":[174],"times":[180],"effective":[183],"even":[184],"situations":[186],"where":[187],"structure":[189],"not":[194],"fully":[195],"known":[196],"effort":[199],"costly.":[201]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}