{"id":"https://openalex.org/W4402985442","doi":"https://doi.org/10.3390/s24196345","title":"Multi-AUV Kinematic Task Assignment Based on Self-Organizing Map Neural Network and Dubins Path Generator","display_name":"Multi-AUV Kinematic Task Assignment Based on Self-Organizing Map Neural Network and Dubins Path Generator","publication_year":2024,"publication_date":"2024-09-30","ids":{"openalex":"https://openalex.org/W4402985442","doi":"https://doi.org/10.3390/s24196345","pmid":"https://pubmed.ncbi.nlm.nih.gov/39409388"},"language":"en","primary_location":{"id":"doi:10.3390/s24196345","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24196345","pdf_url":"https://www.mdpi.com/1424-8220/24/19/6345/pdf","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/24/19/6345/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101876783","display_name":"Xin Li","orcid":"https://orcid.org/0000-0003-4672-1500"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xin Li","raw_affiliation_strings":["College of Information Engineering, Shanghai Maritime University, 1550 Haigang Avenue, Pudong New Area, Shanghai 201306, China"],"raw_orcid":"https://orcid.org/0000-0003-4672-1500","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Shanghai Maritime University, 1550 Haigang Avenue, Pudong New Area, Shanghai 201306, China","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025418820","display_name":"Wenyang Gan","orcid":"https://orcid.org/0000-0001-9889-1187"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenyang Gan","raw_affiliation_strings":["Logistics Engineering College, Shanghai Maritime University, Shanghai 201306, China"],"raw_orcid":"https://orcid.org/0000-0001-9889-1187","affiliations":[{"raw_affiliation_string":"Logistics Engineering College, Shanghai Maritime University, Shanghai 201306, China","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057177284","display_name":"Wen Pang","orcid":"https://orcid.org/0000-0002-2324-5452"},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen Pang","raw_affiliation_strings":["Mechanics Institute, University of Shanghai for Science and Technology, Shanghai 200093, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanics Institute, University of Shanghai for Science and Technology, Shanghai 200093, China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002059219","display_name":"Daqi Zhu","orcid":"https://orcid.org/0000-0001-7252-4952"},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daqi Zhu","raw_affiliation_strings":["Mechanics Institute, University of Shanghai for Science and Technology, Shanghai 200093, China"],"raw_orcid":"https://orcid.org/0000-0001-7252-4952","affiliations":[{"raw_affiliation_string":"Mechanics Institute, University of Shanghai for Science and Technology, Shanghai 200093, China","institution_ids":["https://openalex.org/I148128674"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101876783"],"corresponding_institution_ids":["https://openalex.org/I96733725"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":0.486,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.60718481,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"24","issue":"19","first_page":"6345","last_page":"6345"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9993000030517578,"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"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9952999949455261,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6866376399993896},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.627278745174408},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5544160604476929},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5434385538101196},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5201285481452942},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.43178728222846985},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4294571876525879},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33187150955200195},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2951658368110657},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2575801610946655}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6866376399993896},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.627278745174408},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5544160604476929},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5434385538101196},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5201285481452942},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.43178728222846985},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4294571876525879},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33187150955200195},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2951658368110657},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2575801610946655},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24196345","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24196345","pdf_url":"https://www.mdpi.com/1424-8220/24/19/6345/pdf","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:39409388","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39409388","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11478750","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11478750","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11478750/pdf/sensors-24-06345.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:4075a16dcf7b4a49b3576df63fa34d52","is_oa":true,"landing_page_url":"https://doaj.org/article/4075a16dcf7b4a49b3576df63fa34d52","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 24, Iss 19, p 6345 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24196345","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24196345","pdf_url":"https://www.mdpi.com/1424-8220/24/19/6345/pdf","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6299999952316284,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4402985442.pdf","grobid_xml":"https://content.openalex.org/works/W4402985442.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1487172044","https://openalex.org/W1914803678","https://openalex.org/W1934130465","https://openalex.org/W1983459530","https://openalex.org/W2004743525","https://openalex.org/W2033052486","https://openalex.org/W2102145388","https://openalex.org/W2103120971","https://openalex.org/W2134638269","https://openalex.org/W2155192075","https://openalex.org/W2316404513","https://openalex.org/W2367547747","https://openalex.org/W2383142235","https://openalex.org/W2734821685","https://openalex.org/W2789630537","https://openalex.org/W3089359812","https://openalex.org/W3097875984","https://openalex.org/W4236083144","https://openalex.org/W4310588780","https://openalex.org/W4312890663","https://openalex.org/W4390832969","https://openalex.org/W4392010786","https://openalex.org/W6748930359","https://openalex.org/W6839861755","https://openalex.org/W6847732626"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2897178038","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"To":[0],"deal":[1],"with":[2,37],"the":[3,33,45,51,54,88,94,102,105,126,134,142,153,159],"task":[4,27,81,160,162],"assignment":[5,28,161],"problem":[6],"of":[7,78,90],"multi-AUV":[8,165],"systems":[9],"under":[10],"kinematic":[11,70],"constraints,":[12],"which":[13,74,120],"means":[14],"steering":[15],"capability":[16],"constraints":[17,71],"for":[18,163],"underactuated":[19],"AUVs":[20,52,95],"or":[21,72],"other":[22],"vehicles":[23],"likely,":[24],"an":[25],"improved":[26,38,55],"algorithm":[29,36,135,155],"is":[30,118,130],"proposed":[31,154],"combining":[32],"Dubins":[34,106],"Path":[35],"SOM":[39,56,91],"neural":[40,57],"network":[41,58],"algorithm.":[42],"At":[43],"first,":[44],"aimed":[46],"tasks":[47],"are":[48,108],"assigned":[49],"to":[50,99,125,145],"by":[53,86],"method":[59],"based":[60],"on":[61],"workload":[62],"balance":[63],"and":[64,138],"neighborhood":[65],"function.":[66],"When":[67],"there":[68],"exists":[69],"obstacles":[73],"may":[75],"cause":[76],"failure":[77],"trajectory":[79],"planning,":[80],"re-assignment":[82],"will":[83],"be":[84],"implemented":[85],"changing":[87],"weights":[89],"neurals,":[92],"until":[93],"can":[96,140,156],"have":[97],"paths":[98,107],"reach":[100],"all":[101],"targets.":[103,127,147],"Then,":[104],"generated":[109],"in":[110,122,136],"several":[111],"limited":[112],"cases.":[113],"The":[114],"AUV's":[115],"yaw":[116],"angle":[117],"limited,":[119],"results":[121,150],"new":[123],"assignments":[124],"Computation":[128],"flow":[129],"designed":[131],"so":[132],"that":[133,152],"MATLAB":[137],"Python":[139],"realize":[141],"path":[143],"planning":[144],"multiple":[146],"Finally,":[148],"simulation":[149],"prove":[151],"effectively":[157],"accomplish":[158],"a":[164],"system.":[166]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-30T17:31:21.811387","created_date":"2025-10-10T00:00:00"}