{"id":"https://openalex.org/W2735554544","doi":"https://doi.org/10.23919/acc.2017.7963806","title":"Trajectory planning and tracking of robotic fish using ergodic exploration","display_name":"Trajectory planning and tracking of robotic fish using ergodic exploration","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2735554544","doi":"https://doi.org/10.23919/acc.2017.7963806","mag":"2735554544"},"language":"en","primary_location":{"id":"doi:10.23919/acc.2017.7963806","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2017.7963806","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 American Control Conference (ACC)","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/A5060095735","display_name":"Maria L. Casta\u00f1o","orcid":"https://orcid.org/0000-0001-5552-6817"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maria L. Castano","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, USA","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059979683","display_name":"Anastasia Mavrommati","orcid":"https://orcid.org/0000-0003-1809-2647"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anastasia Mavrommati","raw_affiliation_strings":["Department of Mechanical Engineering, North-western University, Evanston, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, North-western University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067725461","display_name":"Todd D. Murphey","orcid":"https://orcid.org/0000-0003-2262-8176"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Todd D. Murphey","raw_affiliation_strings":["Department of Mechanical Engineering, North-western University, Evanston, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, North-western University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088360388","display_name":"Xiaobo Tan","orcid":"https://orcid.org/0000-0002-5542-6266"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaobo Tan","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, USA","institution_ids":["https://openalex.org/I87216513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4163,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.81652515,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"5476","last_page":"5481"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9969000220298767,"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":0.9969000220298767,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9958000183105469,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/trajectory","display_name":"Trajectory","score":0.8022232055664062},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.672452449798584},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6385570764541626},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5058386325836182},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.504759669303894},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5029477477073669},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.47983691096305847},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4549143314361572},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4467683732509613},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41165125370025635},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23963630199432373},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23136994242668152},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18372228741645813},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07442298531532288}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8022232055664062},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.672452449798584},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6385570764541626},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5058386325836182},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.504759669303894},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5029477477073669},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.47983691096305847},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4549143314361572},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4467683732509613},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41165125370025635},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23963630199432373},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23136994242668152},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18372228741645813},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07442298531532288},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc.2017.7963806","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2017.7963806","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.5699999928474426}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1512273979","https://openalex.org/W1631623342","https://openalex.org/W2044313750","https://openalex.org/W2061341273","https://openalex.org/W2073787051","https://openalex.org/W2120372777","https://openalex.org/W2121273772","https://openalex.org/W2145014642","https://openalex.org/W2149455028","https://openalex.org/W2169967276","https://openalex.org/W2283600647","https://openalex.org/W2294612139","https://openalex.org/W2328405110","https://openalex.org/W2346375665","https://openalex.org/W2509969228","https://openalex.org/W2752764185","https://openalex.org/W2962807522","https://openalex.org/W3101211657"],"related_works":["https://openalex.org/W2381850946","https://openalex.org/W4380449851","https://openalex.org/W1990079087","https://openalex.org/W3125091513","https://openalex.org/W4318832338","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"In":[0,73,120],"recent":[1],"years,":[2],"underwater":[3],"robots":[4],"that":[5],"propel":[6],"and":[7,26,49,63,93,118,124,136,140],"maneuver":[8],"themselves":[9],"like":[10],"real":[11],"fish,":[12,16,92],"often":[13],"called":[14],"robotic":[15,91],"have":[17],"emerged":[18],"as":[19,132],"promising":[20],"mobile":[21],"sensing":[22,47,61,86],"platforms":[23],"for":[24,88,102,115,150],"freshwater":[25],"marine":[27],"environments.":[28],"For":[29],"these":[30],"active":[31],"monitoring":[32],"applications,":[33],"efficient":[34],"exploration":[35,80],"along":[36],"with":[37],"economical":[38],"locomotion":[39],"is":[40,113],"highly":[41],"important,":[42],"in":[43,151],"order":[44],"to":[45,82,160],"optimize":[46],"coverage":[48],"guarantee":[50],"long":[51],"field":[52],"operation":[53],"time.":[54],"As":[55],"a":[56,89,95],"result,":[57],"optimization":[58,153],"of":[59,66,71,126,164],"the":[60,67,104,122,127,133,141,152,162,165],"trajectory":[62,69,87,116],"energy-saving":[64],"tracking":[65,103],"planned":[68],"are":[70,130,147,158],"interest.":[72],"this":[74],"paper":[75],"we":[76],"adopt":[77],"an":[78,84],"ergodic":[79],"method":[81],"calculate":[83],"optimal":[85],"tail-actuated":[90],"propose":[94],"nonlinear":[96,110],"model":[97,112],"predictive":[98],"control":[99,134],"(NMPC)":[100],"approach":[101],"generated":[105],"trajectory.":[106],"A":[107],"high-fidelity,":[108],"averaged":[109],"dynamic":[111],"used":[114],"planning":[117],"control.":[119],"particular,":[121],"bias":[123],"amplitude":[125],"tail-beat":[128],"pattern":[129],"treated":[131],"inputs,":[135],"their":[137,144],"physical":[138],"bounds":[139],"constraints":[142],"on":[143],"changing":[145],"rates":[146],"properly":[148],"accounted":[149],"process.":[154],"Finally,":[155],"simulation":[156],"results":[157],"presented":[159],"illustrate":[161],"effectiveness":[163],"proposed":[166],"approach.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}