{"id":"https://openalex.org/W4385452075","doi":"https://doi.org/10.23919/ecc57647.2023.10178187","title":"Model Predictive Control For Multiple Castaway Tracking with an Autonomous Aerial Agent","display_name":"Model Predictive Control For Multiple Castaway Tracking with an Autonomous Aerial Agent","publication_year":2023,"publication_date":"2023-06-13","ids":{"openalex":"https://openalex.org/W4385452075","doi":"https://doi.org/10.23919/ecc57647.2023.10178187"},"language":"en","primary_location":{"id":"doi:10.23919/ecc57647.2023.10178187","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc57647.2023.10178187","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2409.13305","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103098035","display_name":"Andreas Anastasiou","orcid":"https://orcid.org/0000-0002-7549-1348"},"institutions":[{"id":"https://openalex.org/I34771391","display_name":"University of Cyprus","ror":"https://ror.org/02qjrjx09","country_code":"CY","type":"education","lineage":["https://openalex.org/I34771391"]},{"id":"https://openalex.org/I4210105896","display_name":"Cyprus Research and Innovation Center (Cyprus)","ror":"https://ror.org/01ha10g31","country_code":"CY","type":"company","lineage":["https://openalex.org/I4210105896"]}],"countries":["CY"],"is_corresponding":false,"raw_author_name":"Andreas Anastasiou","raw_affiliation_strings":["KIOS Research and Innovation Center of Excellence (KIOS CoE),Nicosia,Cyprus,1678","Department of Electrical and Computer Engineering, University of Cyprus, Nicosia, Cyprus"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KIOS Research and Innovation Center of Excellence (KIOS CoE),Nicosia,Cyprus,1678","institution_ids":["https://openalex.org/I4210105896"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Cyprus, Nicosia, Cyprus","institution_ids":["https://openalex.org/I34771391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008276252","display_name":"Savvas Papaioannou","orcid":"https://orcid.org/0000-0003-3149-4202"},"institutions":[{"id":"https://openalex.org/I4210105896","display_name":"Cyprus Research and Innovation Center (Cyprus)","ror":"https://ror.org/01ha10g31","country_code":"CY","type":"company","lineage":["https://openalex.org/I4210105896"]}],"countries":["CY"],"is_corresponding":false,"raw_author_name":"Savvas Papaioannou","raw_affiliation_strings":["KIOS Research and Innovation Center of Excellence (KIOS CoE),Nicosia,Cyprus,1678"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KIOS Research and Innovation Center of Excellence (KIOS CoE),Nicosia,Cyprus,1678","institution_ids":["https://openalex.org/I4210105896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005033255","display_name":"Panayiotis Kolios","orcid":"https://orcid.org/0000-0003-3981-993X"},"institutions":[{"id":"https://openalex.org/I4210105896","display_name":"Cyprus Research and Innovation Center (Cyprus)","ror":"https://ror.org/01ha10g31","country_code":"CY","type":"company","lineage":["https://openalex.org/I4210105896"]}],"countries":["CY"],"is_corresponding":false,"raw_author_name":"Panayiotis Kolios","raw_affiliation_strings":["KIOS Research and Innovation Center of Excellence (KIOS CoE),Nicosia,Cyprus,1678"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KIOS Research and Innovation Center of Excellence (KIOS CoE),Nicosia,Cyprus,1678","institution_ids":["https://openalex.org/I4210105896"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073317773","display_name":"Christos G. Panayiotou","orcid":"https://orcid.org/0000-0002-6476-9025"},"institutions":[{"id":"https://openalex.org/I34771391","display_name":"University of Cyprus","ror":"https://ror.org/02qjrjx09","country_code":"CY","type":"education","lineage":["https://openalex.org/I34771391"]},{"id":"https://openalex.org/I4210105896","display_name":"Cyprus Research and Innovation Center (Cyprus)","ror":"https://ror.org/01ha10g31","country_code":"CY","type":"company","lineage":["https://openalex.org/I4210105896"]}],"countries":["CY"],"is_corresponding":false,"raw_author_name":"Christos G. Panayiotou","raw_affiliation_strings":["KIOS Research and Innovation Center of Excellence (KIOS CoE),Nicosia,Cyprus,1678","Department of Electrical and Computer Engineering, University of Cyprus, Nicosia, Cyprus"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KIOS Research and Innovation Center of Excellence (KIOS CoE),Nicosia,Cyprus,1678","institution_ids":["https://openalex.org/I4210105896"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Cyprus, Nicosia, Cyprus","institution_ids":["https://openalex.org/I34771391"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9983000159263611,"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":0.9983000159263611,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9955999851226807,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7348190546035767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.57454514503479},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5712906122207642},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5468549132347107},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.531841516494751},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5269152522087097},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4872263967990875},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.48108741641044617},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.45796823501586914},{"id":"https://openalex.org/keywords/radar-tracker","display_name":"Radar tracker","score":0.4404568076133728},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.42335838079452515},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3406192660331726},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3395377993583679},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17558515071868896},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.13812494277954102},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11151781678199768}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7348190546035767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.57454514503479},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5712906122207642},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5468549132347107},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.531841516494751},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5269152522087097},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4872263967990875},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.48108741641044617},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.45796823501586914},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.4404568076133728},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.42335838079452515},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3406192660331726},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3395377993583679},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17558515071868896},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.13812494277954102},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11151781678199768},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.23919/ecc57647.2023.10178187","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc57647.2023.10178187","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2409.13305","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2409.13305","pdf_url":"https://arxiv.org/pdf/2409.13305","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:zenodo.org:10972808","is_oa":true,"landing_page_url":"https://doi.org/10.23919/ECC57647.2023.10178187","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ECC, 2023 European Control Conference, Bucharest, Romania, 13-16 June 2023","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2409.13305","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2409.13305","pdf_url":"https://arxiv.org/pdf/2409.13305","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2428888754","display_name":"KIOS Research and Innovation Centre of Excellence","funder_award_id":"739551","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320330084","display_name":"Research and Innovation Foundation","ror":null},{"id":"https://openalex.org/F4320332084","display_name":"Deputy Ministry of Research, Innovation and Digital Policy","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4385452075.pdf"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1969161726","https://openalex.org/W2010904712","https://openalex.org/W2091015187","https://openalex.org/W2094417606","https://openalex.org/W2097278795","https://openalex.org/W2110550429","https://openalex.org/W2117211893","https://openalex.org/W2120248849","https://openalex.org/W2143737806","https://openalex.org/W2145938889","https://openalex.org/W2164522996","https://openalex.org/W2437886923","https://openalex.org/W2571149404","https://openalex.org/W2736079647","https://openalex.org/W2775115763","https://openalex.org/W2938093816","https://openalex.org/W2953880153","https://openalex.org/W2966210355","https://openalex.org/W3011930046","https://openalex.org/W3018757597","https://openalex.org/W3022730669","https://openalex.org/W3031234167","https://openalex.org/W3042786173","https://openalex.org/W3094167362","https://openalex.org/W3130412487","https://openalex.org/W3144426752","https://openalex.org/W3187586608","https://openalex.org/W3190433992","https://openalex.org/W3198914541","https://openalex.org/W4282942842","https://openalex.org/W4288047754","https://openalex.org/W4393897786","https://openalex.org/W6681158678","https://openalex.org/W6777046832","https://openalex.org/W6863442248"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2101188133","https://openalex.org/W4248731570","https://openalex.org/W4226493464","https://openalex.org/W4312417841","https://openalex.org/W3133861977","https://openalex.org/W2951211570","https://openalex.org/W3103566983","https://openalex.org/W3029198973"],"abstract_inverted_index":{"Over":[0],"the":[1,17,30,40,54,58,79,96,116,137,160,163],"past":[2],"few":[3],"years,":[4],"a":[5,64,82,87],"plethora":[6],"of":[7,32,43,57,81,103,139,162],"advancements":[8],"in":[9,78],"Unmanned":[10],"Areal":[11],"Vehicle":[12],"(UAV)":[13],"technology":[14],"has":[15,126],"paved":[16],"way":[18],"for":[19,70,94],"UAV-based":[20],"Search":[21],"and":[22,114,147,156],"Rescue":[23],"(SAR)":[24],"operations":[25],"with":[26,119],"transformative":[27],"impact":[28],"to":[29,75],"outcome":[31],"critical":[33],"life-saving":[34],"missions.":[35],"This":[36],"paper":[37],"dives":[38],"into":[39],"challenging":[41],"task":[42],"multiple":[44,72],"castaway":[45],"tracking":[46,71,115],"using":[47],"an":[48],"autonomous":[49],"UAV":[50,109],"agent.":[51],"Leveraging":[52],"on":[53],"computing":[55],"power":[56],"modern":[59],"embedded":[60],"devices,":[61],"we":[62,133],"propose":[63],"Model":[65],"Predictive":[66],"Control":[67],"(MPC)":[68],"framework":[69],"castaways":[73],"assumed":[74],"drift":[76],"afloat":[77],"aftermath":[80],"maritime":[83],"accident.":[84],"We":[85],"consider":[86],"stationary":[88],"radar":[89],"sensor":[90,124],"that":[91,125],"is":[92],"responsible":[93],"signaling":[95],"search":[97],"mission":[98],"by":[99,145],"providing":[100],"noisy":[101],"measurements":[102],"each":[104],"castaway\u2019s":[105],"initial":[106],"state.":[107],"The":[108],"agent":[110],"aims":[111],"at":[112],"detecting":[113],"moving":[117],"targets":[118],"its":[120],"equipped":[121],"onboard":[122],"camera":[123],"limited":[127],"sensing":[128],"range.":[129],"In":[130],"this":[131],"work,":[132],"also":[134],"experimentally":[135],"determine":[136],"probability":[138],"target":[140],"detection":[141],"from":[142],"real-world":[143],"data":[144],"training":[146],"evaluating":[148],"various":[149],"Convolutional":[150],"Neural":[151],"Networks":[152],"(CNNs).":[153],"Extensive":[154],"qualitative":[155],"quantitative":[157],"evaluations":[158],"demonstrate":[159],"performance":[161],"proposed":[164],"approach.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-20T07:56:41.581041","created_date":"2025-10-10T00:00:00"}