{"id":"https://openalex.org/W7166666661","doi":"https://doi.org/10.48550/arxiv.2606.29875","title":"AUSLUN: A Fixed-Hover UAV--USV System for GNSS-Denied Maritime Search and Navigation","display_name":"AUSLUN: A Fixed-Hover UAV--USV System for GNSS-Denied Maritime Search and Navigation","publication_year":2026,"publication_date":"2026-06-29","ids":{"openalex":"https://openalex.org/W7166666661","doi":"https://doi.org/10.48550/arxiv.2606.29875"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.29875","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.29875","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":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.29875","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026769012","display_name":"Sen Yang","orcid":"https://orcid.org/0000-0003-1064-0055"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Siyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100591027","display_name":"Zikai Jia","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jia, Zikai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039901615","display_name":"Hailiang Kuang","orcid":"https://orcid.org/0009-0006-6027-7011"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kuang, Hailiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125054748","display_name":"X He","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Xiaoyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139694545","display_name":"Qizhi Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Qizhi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136466952","display_name":"Y H Dong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dong, Yihao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5100717587","display_name":"Shaoming He","orcid":"https://orcid.org/0000-0001-6432-5187"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Shaoming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.2547000050544739,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.2547000050544739,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.22030000388622284,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.18709999322891235,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6407999992370605},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.48570001125335693},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.448199987411499},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4180000126361847},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.35740000009536743},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.3549000024795532},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.3504999876022339},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.34880000352859497},{"id":"https://openalex.org/keywords/satellite","display_name":"Satellite","score":0.3409999907016754}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.650600016117096},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6407999992370605},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5231999754905701},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.48570001125335693},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.448199987411499},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42329999804496765},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4180000126361847},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40230000019073486},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.35740000009536743},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.3549000024795532},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3504999876022339},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.34880000352859497},{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.3409999907016754},{"id":"https://openalex.org/C2778027091","wikidata":"https://www.wikidata.org/wiki/Q25346003","display_name":"Satellite system","level":4,"score":0.33899998664855957},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.3068999946117401},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.30559998750686646},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.30250000953674316},{"id":"https://openalex.org/C124913957","wikidata":"https://www.wikidata.org/wiki/Q1232548","display_name":"Zoom","level":3,"score":0.2838999927043915},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.27390000224113464},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.2728999853134155},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.2685999870300293},{"id":"https://openalex.org/C2780617739","wikidata":"https://www.wikidata.org/wiki/Q4680738","display_name":"Adaptive estimator","level":3,"score":0.2676999866962433},{"id":"https://openalex.org/C201004817","wikidata":"https://www.wikidata.org/wiki/Q1707071","display_name":"Guidance system","level":2,"score":0.2671999931335449},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.26579999923706055},{"id":"https://openalex.org/C42812","wikidata":"https://www.wikidata.org/wiki/Q1082910","display_name":"Partition (number theory)","level":2,"score":0.2639999985694885},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.26269999146461487},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.26109999418258667},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.2565000057220459},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.25529998540878296},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.2549000084400177}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.29875","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.29875","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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.29875","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.29875","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":"Preprint"},"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.8240084052085876}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Global":[0],"navigation":[1,62],"satellite":[2],"system":[3,39],"(GNSS)":[4],"denial":[5],"can":[6],"prevent":[7],"an":[8],"unmanned":[9,44],"surface":[10],"vehicle":[11,46],"(USV)":[12],"from":[13,70],"both":[14],"finding":[15],"a":[16,21,36,42,58,74,134,165,193],"distant":[17],"vessel":[18],"and":[19,33,61,77,92,111,129,138,175,192,201],"maintaining":[20],"globally":[22],"referenced":[23],"approach.":[24],"This":[25],"paper":[26],"presents":[27],"AUSLUN":[28],"(Automatic":[29],"UAV":[30,71,180],"Search,":[31],"Localization,":[32],"USV":[34,94],"Navigation),":[35],"fixed-hover":[37,179],"aerial-surface":[38],"that":[40,121,143],"uses":[41,104],"coastal":[43,186],"aerial":[45],"(UAV),":[47],"which":[48],"estimates":[49],"its":[50],"own":[51],"pose":[52],"through":[53,81],"visual-inertial":[54],"odometry":[55],"(VIO),":[56],"as":[57],"long-range":[59],"sensing":[60,68],"anchor.":[63],"The":[64,99,189],"central":[65],"design":[66],"shifts":[67],"motion":[69],"translation":[72],"to":[73,133],"zoom":[75],"pod":[76,87],"closes":[78],"the":[79,108,115,122,144,160,173],"loop":[80],"three":[82],"coupled":[83],"elements:":[84],"polygon-aware":[85],"annular":[86],"scanning,":[88],"modality-aware":[89],"bearing-range":[90],"localization,":[91],"target-relative":[93],"guidance":[95],"with":[96],"visual-loss":[97,168],"recovery.":[98,169],"same":[100],"gated":[101,145],"recursive":[102,146],"estimator":[103,147],"laser":[105],"range":[106,113],"for":[107,114,182],"non-cooperative":[109],"target":[110],"datalink":[112],"cooperative":[116],"USV.":[117],"Search-planning":[118],"simulations":[119],"show":[120,142],"adaptive":[123],"yaw":[124],"bounds":[125],"reduce":[126],"scan":[127],"time":[128],"redundant":[130],"coverage":[131],"relative":[132],"matched":[135],"fixed-sector":[136],"scan,":[137],"GPS-referenced":[139],"field":[140],"data":[141],"outperforms":[148],"non-recursive":[149],"baselines":[150],"in":[151,185],"localization":[152],"accuracy.":[153],"An":[154],"integrated":[155],"maritime":[156],"mission":[157],"further":[158],"demonstrates":[159],"complete":[161],"search-to-navigation":[162],"sequence,":[163],"including":[164],"deliberately":[166],"triggered":[167],"These":[170],"results":[171],"establish":[172],"feasibility":[174],"operating":[176],"boundary":[177],"of":[178],"assistance":[181],"stationary-target":[183],"approach":[184],"GNSS-denied":[187],"environments.":[188],"source":[190],"code":[191],"video":[194],"demonstration":[195],"are":[196],"publicly":[197],"available":[198],"at":[199],"https://github.com/xirhxq/pod_search":[200],"https://youtu.be/S-5RkJs35JI.":[202]},"counts_by_year":[],"updated_date":"2026-07-01T06:29:00.853634","created_date":"2026-07-01T00:00:00"}