{"id":"https://openalex.org/W4292070548","doi":"https://doi.org/10.23919/ecc55457.2022.9838053","title":"Joint Constrained Bayesian Optimization of Planning, Guidance, Control, and State Estimation of an Autonomous Underwater Vehicle","display_name":"Joint Constrained Bayesian Optimization of Planning, Guidance, Control, and State Estimation of an Autonomous Underwater Vehicle","publication_year":2022,"publication_date":"2022-07-12","ids":{"openalex":"https://openalex.org/W4292070548","doi":"https://doi.org/10.23919/ecc55457.2022.9838053"},"language":"en","primary_location":{"id":"doi:10.23919/ecc55457.2022.9838053","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc55457.2022.9838053","pdf_url":null,"source":{"id":"https://openalex.org/S4363607908","display_name":"2022 European Control Conference (ECC)","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 European Control Conference (ECC)","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/A5088790462","display_name":"David A. Stenger","orcid":"https://orcid.org/0000-0003-3747-4499"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"David Stenger","raw_affiliation_strings":["Institute of Automatic Control, RWTH Aachen University,Aachen,Germany","Institute of Automatic Control, RWTH Aachen University, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control, RWTH Aachen University,Aachen,Germany","institution_ids":["https://openalex.org/I887968799"]},{"raw_affiliation_string":"Institute of Automatic Control, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017572860","display_name":"Maximilian Nitsch","orcid":"https://orcid.org/0000-0003-4391-1552"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximilian Nitsch","raw_affiliation_strings":["Institute of Automatic Control, RWTH Aachen University,Aachen,Germany","Institute of Automatic Control, RWTH Aachen University, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control, RWTH Aachen University,Aachen,Germany","institution_ids":["https://openalex.org/I887968799"]},{"raw_affiliation_string":"Institute of Automatic Control, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029739081","display_name":"Dirk Abel","orcid":"https://orcid.org/0000-0003-0286-3654"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Abel","raw_affiliation_strings":["Institute of Automatic Control, RWTH Aachen University,Aachen,Germany","Institute of Automatic Control, RWTH Aachen University, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control, RWTH Aachen University,Aachen,Germany","institution_ids":["https://openalex.org/I887968799"]},{"raw_affiliation_string":"Institute of Automatic Control, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2294,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.87685775,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1982","last_page":"1987"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9987999796867371,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9898999929428101,"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/robustness","display_name":"Robustness (evolution)","score":0.6561106443405151},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6133109331130981},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5875890851020813},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.5768788456916809},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5232383608818054},{"id":"https://openalex.org/keywords/bayesian-optimization","display_name":"Bayesian optimization","score":0.4960359036922455},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3683943748474121},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3570314049720764},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3569561243057251},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2494579553604126},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.240810364484787},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14753177762031555}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6561106443405151},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6133109331130981},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5875890851020813},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.5768788456916809},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5232383608818054},{"id":"https://openalex.org/C2778049539","wikidata":"https://www.wikidata.org/wiki/Q17002908","display_name":"Bayesian optimization","level":2,"score":0.4960359036922455},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3683943748474121},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3570314049720764},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3569561243057251},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2494579553604126},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.240810364484787},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14753177762031555},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc55457.2022.9838053","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc55457.2022.9838053","pdf_url":null,"source":{"id":"https://openalex.org/S4363607908","display_name":"2022 European Control Conference (ECC)","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 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8999999761581421}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W167756786","https://openalex.org/W1749494163","https://openalex.org/W2009903597","https://openalex.org/W2120034667","https://openalex.org/W2150282654","https://openalex.org/W2192203593","https://openalex.org/W2280743982","https://openalex.org/W2346505884","https://openalex.org/W2612848726","https://openalex.org/W2743907327","https://openalex.org/W2765550637","https://openalex.org/W2943882542","https://openalex.org/W2972825888","https://openalex.org/W2997896361","https://openalex.org/W3002423344","https://openalex.org/W3025714143","https://openalex.org/W3093169645","https://openalex.org/W3105904426","https://openalex.org/W3126851404","https://openalex.org/W3127916076","https://openalex.org/W3177495631","https://openalex.org/W4211049957","https://openalex.org/W4287628958","https://openalex.org/W4288092456","https://openalex.org/W4302380672","https://openalex.org/W6677959772","https://openalex.org/W6737769135","https://openalex.org/W6789791293","https://openalex.org/W6798072968"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W1999583034","https://openalex.org/W2891537746","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W3106461837","https://openalex.org/W2773822314","https://openalex.org/W2953138830","https://openalex.org/W3176162126","https://openalex.org/W3217214504"],"abstract_inverted_index":{"The":[0,68,109],"performance":[1],"of":[2,10,22,64,119,131,192],"a":[3,116],"guidance,":[4],"navigation":[5],"and":[6,88,160],"control":[7,38],"(GNC)":[8],"system":[9,118],"an":[11,48,120],"autonomous":[12,65],"underwater":[13,66],"vehicle":[14],"(AUV)":[15],"heavily":[16],"depends":[17],"on":[18,115],"the":[19,54,62,73,89,126,136,145,172,177,188,193],"correct":[20],"tuning":[21,50,144,195],"its":[23],"parameters.":[24],"Our":[25],"objective":[26,79],"is":[27,51,59,111,180],"to":[28,35,46,85],"automatically":[29,152],"tune":[30],"these":[31],"parameters":[32,92],"with":[33,106],"respect":[34],"arbitrary":[36],"high-level":[37],"objectives":[39],"within":[40,125],"different":[41,149,155],"operational":[42],"scenarios.":[43],"In":[44],"contrast":[45],"literature,":[47],"overall":[49,146],"performed":[52],"for":[53,129,154],"entire":[55],"GNC":[56,117],"system,":[57],"which":[58],"new":[60],"in":[61,71,113,139],"context":[63],"vehicles.":[67],"main":[69],"challenges":[70,98],"solving":[72],"optimization":[74,105],"problem":[75],"are":[76,99,151],"compu-tationally":[77],"expensive":[78],"function":[80],"evaluations,":[81],"crashing":[82],"simulations":[83],"due":[84],"infeasible":[86],"parametrization":[87],"numerous":[90],"tunable":[91],"(in":[93],"our":[94],"case":[95],"13).":[96],"These":[97],"met":[100],"by":[101,143,182],"using":[102],"constrained":[103],"Bayesian":[104],"crash":[107],"constraints.":[108],"method":[110],"demonstrated":[112],"simulation":[114],"underactuated":[121],"miniature":[122],"AUV":[123],"designed":[124],"TRIPLE-nanoAUV":[127],"initiative":[128],"exploration":[130],"sub-glacial":[132],"lakes.":[133],"We":[134],"quantify":[135],"substantial":[137],"reduction":[138],"energy":[140,164],"consumption":[141,157,165],"achieved":[142],"system.":[147],"Further-more,":[148],"parametrizations":[150],"generated":[153],"power":[156],"functions,":[158],"robustness,":[159],"ac-curacy":[161],"requirements.":[162],"E.g.":[163],"can":[166],"be":[167],"reduced":[168],"by~":[169],"28%,":[170],"if":[171],"maximum":[173],"allowed":[174],"deviation":[175],"from":[176],"planned":[178],"path":[179],"increased":[181],"~":[183],"65":[184],"%.":[185],"This":[186],"shows":[187],"versatile":[189],"practical":[190],"applicability":[191],"optimization-based":[194],"approach.":[196]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
