{"id":"https://openalex.org/W4413393476","doi":"https://doi.org/10.23919/acc63710.2025.11107582","title":"Towing Type of 3D Trajectory Tracking for a Class of Underactuated Autonomous Underwater Vehicles*","display_name":"Towing Type of 3D Trajectory Tracking for a Class of Underactuated Autonomous Underwater Vehicles*","publication_year":2025,"publication_date":"2025-07-08","ids":{"openalex":"https://openalex.org/W4413393476","doi":"https://doi.org/10.23919/acc63710.2025.11107582"},"language":"en","primary_location":{"id":"doi:10.23919/acc63710.2025.11107582","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc63710.2025.11107582","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5063383376","display_name":"Jihong Li","orcid":"https://orcid.org/0000-0002-5162-2737"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Ji-Hong Li","raw_affiliation_strings":["Korea Institute of Robotics and Technology Convergence,Autonomous Systems R&#x0026;D Division,Pohang,Republic of Korea,37666"],"affiliations":[{"raw_affiliation_string":"Korea Institute of Robotics and Technology Convergence,Autonomous Systems R&#x0026;D Division,Pohang,Republic of Korea,37666","institution_ids":["https://openalex.org/I4210096735"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071888826","display_name":"Hyungjoo Kang","orcid":"https://orcid.org/0000-0001-8838-3285"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyungjoo Kang","raw_affiliation_strings":["Korea Institute of Robotics and Technology Convergence,Autonomous Systems R&#x0026;D Division,Pohang,Republic of Korea,37666"],"affiliations":[{"raw_affiliation_string":"Korea Institute of Robotics and Technology Convergence,Autonomous Systems R&#x0026;D Division,Pohang,Republic of Korea,37666","institution_ids":["https://openalex.org/I4210096735"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100383169","display_name":"Min Kim","orcid":"https://orcid.org/0000-0003-0744-8812"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Min-Gyu Kim","raw_affiliation_strings":["Korea Institute of Robotics and Technology Convergence,Autonomous Systems R&#x0026;D Division,Pohang,Republic of Korea,37666"],"affiliations":[{"raw_affiliation_string":"Korea Institute of Robotics and Technology Convergence,Autonomous Systems R&#x0026;D Division,Pohang,Republic of Korea,37666","institution_ids":["https://openalex.org/I4210096735"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010234289","display_name":"Mun-Jik Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Mun-Jik Lee","raw_affiliation_strings":["Korea Institute of Robotics and Technology Convergence,Autonomous Systems R&#x0026;D Division,Pohang,Republic of Korea,37666"],"affiliations":[{"raw_affiliation_string":"Korea Institute of Robotics and Technology Convergence,Autonomous Systems R&#x0026;D Division,Pohang,Republic of Korea,37666","institution_ids":["https://openalex.org/I4210096735"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055902716","display_name":"Han-Sol Jin","orcid":"https://orcid.org/0000-0002-3400-3272"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hansol Jin","raw_affiliation_strings":["Korea Institute of Robotics and Technology Convergence,Autonomous Systems R&#x0026;D Division,Pohang,Republic of Korea,37666"],"affiliations":[{"raw_affiliation_string":"Korea Institute of Robotics and Technology Convergence,Autonomous Systems R&#x0026;D Division,Pohang,Republic of Korea,37666","institution_ids":["https://openalex.org/I4210096735"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023880471","display_name":"Gun Rae Cho","orcid":"https://orcid.org/0000-0002-8536-4844"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Gun Rae Cho","raw_affiliation_strings":["Korea Institute of Robotics and Technology Convergence,Autonomous Systems R&#x0026;D Division,Pohang,Republic of Korea,37666"],"affiliations":[{"raw_affiliation_string":"Korea Institute of Robotics and Technology Convergence,Autonomous Systems R&#x0026;D Division,Pohang,Republic of Korea,37666","institution_ids":["https://openalex.org/I4210096735"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5063383376"],"corresponding_institution_ids":["https://openalex.org/I4210096735"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.30510822,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3770","last_page":"3775"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9993000030517578,"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":0.9993000030517578,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9909999966621399,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9886000156402588,"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/towing","display_name":"Towing","score":0.9370644092559814},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8348504900932312},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.713025689125061},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5714303255081177},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.5278099775314331},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5018091201782227},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4978973865509033},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.4403301179409027},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21711909770965576},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.194699227809906},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18082064390182495},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11906668543815613},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09964630007743835},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.06340700387954712}],"concepts":[{"id":"https://openalex.org/C23927387","wikidata":"https://www.wikidata.org/wiki/Q332030","display_name":"Towing","level":2,"score":0.9370644092559814},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8348504900932312},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.713025689125061},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5714303255081177},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.5278099775314331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5018091201782227},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4978973865509033},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.4403301179409027},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21711909770965576},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.194699227809906},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18082064390182495},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11906668543815613},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09964630007743835},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.06340700387954712},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc63710.2025.11107582","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc63710.2025.11107582","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":0.699999988079071}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322011","display_name":"Ministry of Oceans and Fisheries","ror":"https://ror.org/00c5s4a53"},{"id":"https://openalex.org/F4320334872","display_name":"Korea Coast Guard","ror":"https://ror.org/0249tng68"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1544853044","https://openalex.org/W1977808185","https://openalex.org/W2002675616","https://openalex.org/W2004875789","https://openalex.org/W2020476125","https://openalex.org/W2037013143","https://openalex.org/W2058857355","https://openalex.org/W2064942388","https://openalex.org/W2101876384","https://openalex.org/W2117360554","https://openalex.org/W2148821382","https://openalex.org/W2154273141","https://openalex.org/W2242113895","https://openalex.org/W2806267509","https://openalex.org/W2937867056","https://openalex.org/W2971743912","https://openalex.org/W3120360981","https://openalex.org/W4243217210","https://openalex.org/W4382776405"],"related_works":["https://openalex.org/W2577530671","https://openalex.org/W2024750163","https://openalex.org/W2984029879","https://openalex.org/W2460261413","https://openalex.org/W2593341124","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402"],"abstract_inverted_index":{"This":[0,41],"paper":[1,114],"presents":[2],"a":[3,37,44,49,86],"novel":[4],"approach":[5],"for":[6],"3D":[7],"trajectory":[8],"tracking":[9,26,61,125],"of":[10,107,146],"underactuated":[11],"autonomous":[12],"underwater":[13],"vehicles":[14],"(AUVs).":[15],"Unlike":[16],"previous":[17],"works,":[18],"this":[19,59,94,113],"method":[20,126],"does":[21],"not":[22],"require":[23],"the":[24,55,63,77,83,90,102,108,123,128,134,144,147],"position":[25],"error":[27],"to":[28,35,85,133,142],"be":[29],"zero":[30],"but":[31],"instead":[32],"allows":[33],"it":[34,100],"take":[36],"nonzero":[38],"constant":[39],"value.":[40],"setup":[42],"resembles":[43],"vehicle":[45,84],"being":[46],"towed":[47],"by":[48,68],"rope,":[50],"where":[51],"one":[52],"end":[53],"follows":[54],"reference":[56,91,109,135],"trajectory.":[57,92],"In":[58],"towing-type":[60],"scheme,":[62],"vehicle\u2019s":[64,129],"desired":[65,95,130],"attitude":[66,96,131],"(defined":[67],"its":[69],"pitch":[70],"and":[71,79,104],"yaw":[72],"angles)":[73],"is":[74,97],"aligned":[75],"with":[76],"polar":[78,103],"azimuth":[80,105],"angles":[81,106],"from":[82,101],"target":[87],"point":[88],"on":[89],"Notably,":[93],"state-dependent,":[98],"distinguishing":[99],"trajectory\u2019s":[110,136],"tangent.":[111,137],"However,":[112],"demonstrates":[115],"that,":[116],"at":[117],"least":[118],"in":[119],"certain":[120],"special":[121],"cases,":[122],"proposed":[124,148],"ensures":[127],"converges":[132],"Numerical":[138],"studies":[139],"are":[140],"conducted":[141],"validate":[143],"effectiveness":[145],"scheme.":[149]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
