{"id":"https://openalex.org/W4294690604","doi":"https://doi.org/10.23919/acc53348.2022.9867315","title":"Rope-Assisted Docking Maneuvers for Autonomous Surface Vessels","display_name":"Rope-Assisted Docking Maneuvers for Autonomous Surface Vessels","publication_year":2022,"publication_date":"2022-06-08","ids":{"openalex":"https://openalex.org/W4294690604","doi":"https://doi.org/10.23919/acc53348.2022.9867315"},"language":"en","primary_location":{"id":"doi:10.23919/acc53348.2022.9867315","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867315","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5030213338","display_name":"S\u00f6nke Bartels","orcid":null},"institutions":[{"id":"https://openalex.org/I32021983","display_name":"Kiel University","ror":"https://ror.org/04v76ef78","country_code":"DE","type":"education","lineage":["https://openalex.org/I32021983"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Sonke Bartels","raw_affiliation_strings":["Kiel University,Automation and Control Group, Faculty of Engineering,Kiel,Germany,24143"],"affiliations":[{"raw_affiliation_string":"Kiel University,Automation and Control Group, Faculty of Engineering,Kiel,Germany,24143","institution_ids":["https://openalex.org/I32021983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042553217","display_name":"Simon Helling","orcid":"https://orcid.org/0000-0002-3301-4244"},"institutions":[{"id":"https://openalex.org/I32021983","display_name":"Kiel University","ror":"https://ror.org/04v76ef78","country_code":"DE","type":"education","lineage":["https://openalex.org/I32021983"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Simon Helling","raw_affiliation_strings":["Kiel University,Automation and Control Group, Faculty of Engineering,Kiel,Germany,24143"],"affiliations":[{"raw_affiliation_string":"Kiel University,Automation and Control Group, Faculty of Engineering,Kiel,Germany,24143","institution_ids":["https://openalex.org/I32021983"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002069913","display_name":"Thomas Meurer","orcid":"https://orcid.org/0000-0002-9175-2157"},"institutions":[{"id":"https://openalex.org/I32021983","display_name":"Kiel University","ror":"https://ror.org/04v76ef78","country_code":"DE","type":"education","lineage":["https://openalex.org/I32021983"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Meurer","raw_affiliation_strings":["Kiel University,Automation and Control Group, Faculty of Engineering,Kiel,Germany,24143"],"affiliations":[{"raw_affiliation_string":"Kiel University,Automation and Control Group, Faculty of Engineering,Kiel,Germany,24143","institution_ids":["https://openalex.org/I32021983"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5030213338"],"corresponding_institution_ids":["https://openalex.org/I32021983"],"apc_list":null,"apc_paid":null,"fwci":0.0602,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.26785969,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"2315","last_page":"2320"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976999759674072,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976999759674072,"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"}},{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9937000274658203,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9915000200271606,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/rope","display_name":"Rope","score":0.9285218715667725},{"id":"https://openalex.org/keywords/docking","display_name":"Docking (animal)","score":0.7044739127159119},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.539441704750061},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33613187074661255},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.0640910267829895}],"concepts":[{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.9285218715667725},{"id":"https://openalex.org/C41685203","wikidata":"https://www.wikidata.org/wiki/Q1974042","display_name":"Docking (animal)","level":2,"score":0.7044739127159119},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.539441704750061},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33613187074661255},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0640910267829895},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C159110408","wikidata":"https://www.wikidata.org/wiki/Q121176","display_name":"Nursing","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc53348.2022.9867315","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867315","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.4399999976158142,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W50309850","https://openalex.org/W634094752","https://openalex.org/W1530113549","https://openalex.org/W1597944220","https://openalex.org/W1986052639","https://openalex.org/W1995504856","https://openalex.org/W2123871098","https://openalex.org/W2488865704","https://openalex.org/W2492811885","https://openalex.org/W2621652776","https://openalex.org/W2767483736","https://openalex.org/W2842089854","https://openalex.org/W2981257758","https://openalex.org/W2986587829","https://openalex.org/W2997554459","https://openalex.org/W3014748003","https://openalex.org/W3015470607","https://openalex.org/W3156118284","https://openalex.org/W3184652448","https://openalex.org/W3211187784","https://openalex.org/W6602102609","https://openalex.org/W6635648935","https://openalex.org/W6738911199","https://openalex.org/W6745450845"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2382190654","https://openalex.org/W2041034200","https://openalex.org/W2373129217","https://openalex.org/W1924903628","https://openalex.org/W2375717371","https://openalex.org/W4390286213","https://openalex.org/W2372453219","https://openalex.org/W3173532932"],"abstract_inverted_index":{"With":[0],"the":[1,9,13,33,59,118,130,139,148,162,175],"growing":[2],"interest":[3],"in":[4,8,85,97,174],"autonomous":[5],"surface":[6],"vessels":[7],"recent":[10],"years,":[11],"besides":[12],"tasks":[14],"of":[15,35,39,132,161,180],"driving":[16],"and":[17,61,168],"positioning,":[18],"more":[19],"demanding":[20],"maneuvers":[21,37,79],"have":[22],"to":[23,42,73,116,138,147],"be":[24],"considered,":[25],"e.g.,":[26],"docking":[27,36,66,78,93,193],"maneuvers.":[28],"Difficult":[29],"weather":[30],"conditions":[31],"increase":[32],"complexity":[34],"because":[38],"their":[40],"proximity":[41],"piers":[43],"or":[44],"other":[45],"vessels.":[46],"As":[47],"an":[48,98,153],"example,":[49],"fast":[50],"sideways":[51],"winds":[52],"induce":[53],"a":[54,71,75,86,107,125,144,158,181,191],"significant":[55],"rotational":[56],"moment":[57],"on":[58],"ship":[60],"can":[62],"prevent":[63],"it":[64],"from":[65],"successfully.":[67],"This":[68],"contribution":[69],"proposes":[70],"method":[72,141],"perform":[74],"simplified":[76],"rope-assisted":[77],"for":[80,129],"these":[81],"cases":[82],"which":[83,103,142],"results":[84],"differential":[87],"algebraic":[88],"(DAE)":[89],"system":[90,120],"description.":[91],"The":[92,184],"task":[94],"is":[95,104,136,172],"embedded":[96],"optimal":[99],"control":[100],"problem":[101],"(OCP),":[102],"solved":[105],"using":[106,190],"direct":[108],"(simultaneous)":[109],"method.":[110],"Therein,":[111],"two":[112,185],"methods":[113],"are":[114,188],"proposed":[115,140,176],"integrate":[117],"DAE":[119,126,134],"numerically.":[121],"To":[122],"this":[123],"end,":[124],"solver":[127],"tailored":[128],"solution":[131],"index-1":[133],"systems":[135],"compared":[137,189],"introduces":[143],"constraint":[145],"force":[146],"ODE":[149],"that":[150],"serves":[151],"as":[152,166],"additional":[154],"decision":[155],"variable.":[156],"Additionally,":[157],"mathematical":[159],"description":[160],"vessel\u2019s":[163],"environment":[164],"such":[165],"static,":[167],"possibly":[169],"dynamic,":[170],"obstacles":[171],"included":[173],"OCP":[177],"by":[178],"means":[179],"dual":[182],"approach.":[183],"integration":[186],"techniques":[187],"simulated":[192],"scenario.":[194]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
