{"id":"https://openalex.org/W7160895297","doi":"https://doi.org/10.48550/arxiv.2605.09494","title":"LASSA Architecture-Based Autonomous Fault-Tolerant Control of Unmanned Underwater Vehicles","display_name":"LASSA Architecture-Based Autonomous Fault-Tolerant Control of Unmanned Underwater Vehicles","publication_year":2026,"publication_date":"2026-05-10","ids":{"openalex":"https://openalex.org/W7160895297","doi":"https://doi.org/10.48550/arxiv.2605.09494"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.09494","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.09494","pdf_url":null,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.09494","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5135932412","display_name":"Hong Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Chen, Hong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135977415","display_name":"Zixiang Tang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tang, Zixiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012939129","display_name":"Yuanbao Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yuanbao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135994032","display_name":"Yu Liu","orcid":"https://orcid.org/0000-0003-4320-2721"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Yu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5135932412"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.8607000112533569,"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":0.8607000112533569,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.057999998331069946,"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":0.01140000019222498,"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/solver","display_name":"Solver","score":0.46549999713897705},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.43799999356269836},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.42170000076293945},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.3968999981880188},{"id":"https://openalex.org/keywords/situation-awareness","display_name":"Situation awareness","score":0.3869999945163727},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.3637999892234802},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.3262999951839447},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.3190000057220459},{"id":"https://openalex.org/keywords/backtracking","display_name":"Backtracking","score":0.3188000023365021}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5871999859809875},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.46549999713897705},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.43799999356269836},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.42170000076293945},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4138000011444092},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3968999981880188},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.3869999945163727},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.3637999892234802},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3262999951839447},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32089999318122864},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.3190000057220459},{"id":"https://openalex.org/C82327864","wikidata":"https://www.wikidata.org/wiki/Q835100","display_name":"Intelligent control","level":2,"score":0.3188000023365021},{"id":"https://openalex.org/C156884757","wikidata":"https://www.wikidata.org/wiki/Q798554","display_name":"Backtracking","level":2,"score":0.3188000023365021},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31679999828338623},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.313400000333786},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.3089999854564667},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.3028999865055084},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.3012000024318695},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2939999997615814},{"id":"https://openalex.org/C35525427","wikidata":"https://www.wikidata.org/wiki/Q745881","display_name":"Intrusion detection system","level":2,"score":0.2939999997615814},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29109999537467957},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28859999775886536},{"id":"https://openalex.org/C2778740559","wikidata":"https://www.wikidata.org/wiki/Q2496586","display_name":"Unmanned underwater vehicle","level":3,"score":0.28700000047683716},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.28619998693466187},{"id":"https://openalex.org/C58716799","wikidata":"https://www.wikidata.org/wiki/Q6035648","display_name":"Inner loop","level":3,"score":0.28459998965263367},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2842000126838684},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2831000089645386},{"id":"https://openalex.org/C506615639","wikidata":"https://www.wikidata.org/wiki/Q21662260","display_name":"Command and control","level":2,"score":0.27300000190734863},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.26260000467300415},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.2515999972820282},{"id":"https://openalex.org/C522053795","wikidata":"https://www.wikidata.org/wiki/Q2335090","display_name":"Missile guidance","level":3,"score":0.25110000371932983}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.09494","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.09494","pdf_url":null,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.09494","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.09494","pdf_url":null,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Unmanned":[0],"underwater":[1],"vehicles":[2],"(UUVs)":[3],"operate":[4],"persistently":[5],"in":[6,58],"communication-constrained":[7],"environments,":[8],"thus":[9],"requiring":[10],"high-level":[11,147],"autonomous":[12,94],"fault-tolerant":[13,32],"control":[14,33,60,67,163],"under":[15,167,217],"faulty":[16],"operating":[17],"conditions.":[18],"Existing":[19],"approaches":[20],"rely":[21],"heavily":[22],"on":[23,70,204],"predefined":[24],"hard-coded":[25,97],"rules":[26],"and":[27,45,78,89,105,129,150,162,169,192,208],"struggle":[28],"to":[29,55,116,119,190,197,212],"achieve":[30],"effective":[31],"against":[34],"unforeseen":[35],"faults.":[36],"Although":[37],"large":[38],"language":[39],"models":[40],"(LLMs)":[41],"possess":[42],"powerful":[43],"cognitive":[44],"reasoning":[46,95],"capabilities,":[47],"their":[48,56],"inherent":[49],"hallucinations":[50,128],"remain":[51],"a":[52],"major":[53],"obstacle":[54],"application":[57],"UUV":[59,211],"systems.":[61],"This":[62,122],"paper":[63],"proposes":[64],"an":[65,84],"intelligent":[66,100],"method":[68],"based":[69],"the":[71,99,108,120,143,151,174,181,185,205,210,214,227],"LASSA":[72],"(LLM-based":[73],"Agent":[74],"with":[75],"Solver,":[76],"Sensor":[77],"Actuator)":[79],"architecture.":[80],"Within":[81],"this":[82],"architecture,":[83],"LLM":[85,127],"identifies":[86],"unknown":[87],"faults":[88],"accomplishes":[90],"task":[91],"replanning":[92],"via":[93],"without":[96],"rules;":[98],"agent":[101],"undertakes":[102,146],"perception,":[103],"scheduling":[104],"decision":[106,160],"evaluation;":[107],"solver":[109,202],"verifies":[110],"physical":[111],"boundary":[112],"feasibility":[113],"constraints":[114,203],"prior":[115],"command":[117],"transmission":[118],"actuators.":[121],"architecture":[123],"suppresses":[124],"physically":[125],"infeasible":[126],"ensures":[130],"interpretable,":[131],"verifiable":[132],"decision-making.":[133],"Moreover,":[134],"it":[135],"enables":[136],"fast-slow":[137],"dual":[138],"closed-loop":[139],"collaborative":[140],"control,":[141,157],"where":[142],"slow":[144],"loop":[145,153],"dynamic":[148],"decision-making":[149],"fast":[152],"guarantees":[154],"high-frequency":[155],"real-time":[156],"simultaneously":[158],"balancing":[159],"intelligence":[161],"timeliness.":[164],"Lake":[165],"experiments":[166],"normal":[168,218],"lower-rudder-fault":[170],"conditions":[171,219],"show":[172],"that":[173],"framework":[175],"detects":[176],"trajectory":[177],"tracking":[178],"abnormalities,":[179],"replans":[180],"route":[182],"by":[183],"adjusting":[184],"turning":[186],"radius":[187],"from":[188,195],"4m":[189],"12m":[191],"reducing":[193],"speed":[194],"2kn":[196],"1kn,":[198],"passes":[199],"all":[200],"three":[201],"first":[206],"invocation,":[207],"guides":[209],"complete":[213],"full":[215],"mission;":[216],"no":[220],"false":[221],"fault":[222],"alarms":[223],"are":[224],"raised":[225],"throughout":[226],"run.":[228]},"counts_by_year":[],"updated_date":"2026-05-13T06:11:35.469786","created_date":"2026-05-13T00:00:00"}
