{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T23:55:54Z","timestamp":1780444554134,"version":"3.54.1"},"reference-count":41,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2020,12,10]],"date-time":"2020-12-10T00:00:00Z","timestamp":1607558400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,12,10]],"date-time":"2020-12-10T00:00:00Z","timestamp":1607558400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"name":"Kementerian Pendidikan Tinggi","award":["R.J130000.7851.4L710"],"award-info":[{"award-number":["R.J130000.7851.4L710"]}]},{"name":"Kementerian Pendidikan Tinggi","award":["R.J130000.7351.4B428"],"award-info":[{"award-number":["R.J130000.7351.4B428"]}]},{"DOI":"10.13039\/501100005417","name":"Universiti Teknologi Malaysia","doi-asserted-by":"publisher","award":["Q.J130000.2651.17J53"],"award-info":[{"award-number":["Q.J130000.2651.17J53"]}],"id":[{"id":"10.13039\/501100005417","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2021,1]]},"DOI":"10.1007\/s10846-020-01291-0","type":"journal-article","created":{"date-parts":[[2020,12,10]],"date-time":"2020-12-10T09:07:24Z","timestamp":1607591244000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":30,"title":["Multi-objective Route Planning for Underwater Cleaning Robot in Water Reservoir Tank"],"prefix":"10.1007","volume":"101","author":[{"given":"Mohd Saiful Azimi","family":"Mahmud","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3303-8702","authenticated-orcid":false,"given":"Mohamad Shukri Zainal","family":"Abidin","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Salinda","family":"Buyamin","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Abioye Abiodun","family":"Emmanuel","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hameedah Sahib","family":"Hasan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2020,12,10]]},"reference":[{"issue":"8","key":"1291_CR1","doi-asserted-by":"publisher","first-page":"257","DOI":"10.1016\/j.ifacol.2018.06.386","volume":"51","author":"TT Enevoldsen","year":"2018","unstructured":"Enevoldsen, T.T., Einarsson, E.M., Pedersen, S., Yang, Z.: Simplified modelling and identification of an inspection ROV. IFAC-PapersOnLine 51(8), 257\u2013262 (2018)","journal-title":"IFAC-PapersOnLine"},{"issue":"4","key":"1291_CR2","doi-asserted-by":"publisher","first-page":"335","DOI":"10.2478\/IJNAOE-2013-0101","volume":"4","author":"MH Lee","year":"2013","unstructured":"Lee, M.H., Park, Y.D., Park, H.G., Park, W.C., Hong, S., Lee, K.S., Chun, H.H.: Hydrodynamic design of an underwater hull cleaning robot and its evaluation. Int. J. Nav. Archit. Ocean Eng. 4(4), 335\u2013352 (2013)","journal-title":"Int. J. Nav. Archit. Ocean Eng."},{"key":"1291_CR3","unstructured":"Brun, L.: ROV\/AUV trends: market and technology. https:\/\/gvcc.duke.edu\/cggclisting\/rovauv-trends-market-and-technology\/. Accessed 28 June 2020 (2012)"},{"key":"1291_CR4","doi-asserted-by":"publisher","first-page":"67","DOI":"10.1016\/j.apor.2015.10.009","volume":"54","author":"M Hosseini","year":"2016","unstructured":"Hosseini, M., Seyedtabaii, S.: Robust ROV path following considering disturbance and measurement error using data fusion. Applied Ocean Res. 54, 67\u201372 (2016)","journal-title":"Applied Ocean Res."},{"key":"1291_CR5","doi-asserted-by":"publisher","first-page":"528","DOI":"10.1016\/j.asoc.2019.02.044","volume":"78","author":"B Li","year":"2019","unstructured":"Li, B., Liu, H., Su, W.: Topology optimization techniques for mobile robot path planning. Applied Soft Comput. 78, 528\u2013544 (2019)","journal-title":"Applied Soft Comput."},{"issue":"5","key":"1291_CR6","doi-asserted-by":"publisher","first-page":"1455","DOI":"10.1109\/TSMCB.2012.2192268","volume":"42","author":"RV Cowlagi","year":"2012","unstructured":"Cowlagi, R.V., Tsiotras, P.: Multiresolution motion path planning for autonomous agents via wavelet-based cell decompositions. IEEE Trans. Syst. Man Cybern. Syst. 42(5), 1455\u20131469 (2012)","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"issue":"2","key":"1291_CR7","doi-asserted-by":"publisher","first-page":"432","DOI":"10.1109\/TRO.2012.2234312","volume":"29","author":"JD Marble","year":"2012","unstructured":"Marble, J.D., Bekris, K.E.: Asymptotically near-optimal planning with probabilistic roadmap spanners. IEEE Trans. Robot. 29(2), 432\u2013444 (2012)","journal-title":"IEEE Trans. Robot."},{"key":"1291_CR8","unstructured":"Klauder, H., Brezak, M., Petrovic, I.: A visibility graph based method for path planning in dynamic environments. In: 2011 Proceedings of the 34th International Convention MIPRO, pp 717\u2013721. IEEE, Opatija (2011)"},{"key":"1291_CR9","doi-asserted-by":"publisher","first-page":"308","DOI":"10.1016\/j.oceaneng.2018.01.025","volume":"161","author":"H Niu","year":"2018","unstructured":"Niu, H., Lu, Y., Savvaris, A., Tsourdus, A.: An energy-efficient path planning algorithm for unmanned surface vehicles. Ocean Eng. 161, 308\u2013321 (2018)","journal-title":"Ocean Eng."},{"key":"1291_CR10","doi-asserted-by":"publisher","first-page":"87","DOI":"10.1090\/qam\/102435","volume":"16","author":"R Bellman","year":"1958","unstructured":"Bellman, R.: On a routing problem. Q. Appl. Math. 16, 87\u201390 (1958)","journal-title":"Q. Appl. Math."},{"key":"1291_CR11","volume-title":"Dijkstra\u2019s Algorithm Introduction to Algorithms, vol. 1251","author":"TH Cormen","year":"2009","unstructured":"Cormen, T.H., Leiserson, C.E., Rivest, R.L., Stein, C.: Dijkstra\u2019s Algorithm Introduction to Algorithms, vol. 1251. MIT Press, Cambridge (2009)"},{"key":"1291_CR12","doi-asserted-by":"publisher","first-page":"56","DOI":"10.1016\/j.proeng.2014.12.098","volume":"96","author":"F Duchon","year":"2014","unstructured":"Duchon, F., Babinec, A., Kajan, M., Beno, P., Florek, M., Fico, T., Jurisica, L.: Path planning with modified a star algorithm for a mobile robot. Procedia Eng. 96, 56\u201359 (2014)","journal-title":"Procedia Eng."},{"issue":"1","key":"1291_CR13","doi-asserted-by":"publisher","first-page":"178","DOI":"10.1016\/j.ifacol.2016.03.049","volume":"49","author":"C Saranya","year":"2016","unstructured":"Saranya, C., Unnikrihnan, M., Ali, S.A., Sheela, D.S., Lalithambika, V.R.: Terrain based D* Algorithm for path planning. IFAC-PapersOnLine 49(1), 178\u2013182 (2016)","journal-title":"IFAC-PapersOnLine"},{"issue":"5","key":"1291_CR14","doi-asserted-by":"publisher","first-page":"521","DOI":"10.18178\/ijmerr.7.5.521-527","volume":"7","author":"MSA Mahmud","year":"2018","unstructured":"Mahmud, M.S.A., Abidin, M.S.Z., Mohamed, Z.: Solving an agricultural robot routing problem with binary particle swarm optimization and a genetic algorithm. Int. J. Mech. Eng. Robot. Res. 7(5), 521\u201352 (2018)","journal-title":"Int. J. Mech. Eng. Robot. Res."},{"key":"1291_CR15","doi-asserted-by":"crossref","unstructured":"Wang, X., Yao, X., Zhang, L.: Path planning under constraints and path following control of autonomous underwater vehicle with dynamical uncertainties and wave disturbances. J. Intell. Robot Syst. (2020)","DOI":"10.1007\/s10846-019-01146-3"},{"key":"1291_CR16","unstructured":"Moore, J., Chapman, R.: Application of particle swarm to multiobjective optimization. Department of Computer Science and Software Engineering Auburn University (1999)"},{"key":"1291_CR17","doi-asserted-by":"publisher","first-page":"131","DOI":"10.1016\/j.eswa.2018.01.052","volume":"100","author":"G Poonthalir","year":"2018","unstructured":"Poonthalir, G., Nadarajan, R.: A fuel-efficient green vehicle routing problem with varying speed constraint (f-GVRP). Expert Sys. Applic. 100, 131\u2013144 (2018)","journal-title":"Expert Sys. Applic."},{"key":"1291_CR18","doi-asserted-by":"publisher","first-page":"178","DOI":"10.1016\/j.apor.2018.03.016","volume":"75","author":"YH Lin","year":"2018","unstructured":"Lin, Y.H., Huang, L.C., Chen, S.Y., Yu, C.M.: The optimal route planning for inspection task of autonomous underwater vehicle composed of MOPSO-based dynamic routing algorithm in currents. Appl. Ocean Res. 75, 178\u2013192 (2018)","journal-title":"Appl. Ocean Res."},{"key":"1291_CR19","doi-asserted-by":"publisher","first-page":"293","DOI":"10.1016\/j.jclepro.2018.04.251","volume":"192","author":"BH Zhou","year":"2018","unstructured":"Zhou, B.H., Chen, C.Y.: Multi-objective optimization of material delivery for mixed model assembly lines with energy consideration. J. Cleaner Production 192, 293\u2013305 (2018)","journal-title":"J. Cleaner Production"},{"key":"1291_CR20","doi-asserted-by":"publisher","first-page":"125","DOI":"10.1016\/j.cie.2015.04.011","volume":"89","author":"K Voratas","year":"2015","unstructured":"Voratas, K., Pandhapon, S., Siwaporn, K.: Two solution representations for solving multidepot vehicle routing problem with multiple pickup and delivery requests via PSO. Comput. Indust. Eng. 89, 125\u2013136 (2015)","journal-title":"Comput. Indust. Eng."},{"key":"1291_CR21","unstructured":"Carlos, M.F., Peter, J.F.: Genetic algorithms for multiobjective optimization: formulation, discussion and generalization. In: Fifth International Conference on Genetic Algorithms. Morgan Kaufmann Publishers, Illinois (1993)"},{"key":"1291_CR22","doi-asserted-by":"publisher","first-page":"276","DOI":"10.1016\/j.eswa.2017.09.050","volume":"92","author":"G Dhein","year":"2018","unstructured":"Dhein, G., De Araujo, O.C.B., Cardoso, G. Jr.: Genetic local search algorithm for a new biobjective arc routing problem with profit collection and dispersion of vehicles. Expert Syst. Applic. 92, 276\u2013288 (2018)","journal-title":"Expert Syst. Applic."},{"issue":"1","key":"1291_CR23","doi-asserted-by":"publisher","first-page":"12520","DOI":"10.1016\/j.ifacol.2017.08.2063","volume":"50","author":"JB Receveur","year":"2017","unstructured":"Receveur, J.B., Victor, S., Melchior, P.: Multi-criteria trajectory optimization for autonomous vehicles. IFAC-PapersOnLine 50(1), 12520\u201312525 (2017)","journal-title":"IFAC-PapersOnLine"},{"key":"1291_CR24","doi-asserted-by":"crossref","unstructured":"Touihri, A., Dridi, O., Krichen, S.: A multi operator genetic algorithm for solving the capacitated vehicle routing problem with cross-docking problem. In: 2016 IEEE Symposium Series on Computational Intelligence, pp 1\u20138. IEEE, Athens (2016)","DOI":"10.1109\/SSCI.2016.7850090"},{"issue":"2","key":"1291_CR25","doi-asserted-by":"publisher","first-page":"182","DOI":"10.1109\/4235.996017","volume":"6","author":"K Deb","year":"2002","unstructured":"Deb, K., Pratap, A., Agarwal, S., Meyarivan, T.: A fast and elitist multiobjective Genetic algorithm: NSGA-II. IEEE Trans. Evolutionary Comput. 6(2), 182\u2013197 (2002)","journal-title":"IEEE Trans. Evolutionary Comput."},{"issue":"3","key":"1291_CR26","doi-asserted-by":"publisher","first-page":"945","DOI":"10.1016\/j.ejor.2018.07.024","volume":"272","author":"M Rabbani","year":"2018","unstructured":"Rabbani, M., Heidari, R., Yazdanparast, R.: A stochastic multi-period industrial hazardous waste location-routing problem: integrating NSGA-II and Monte Carlo simulation. European J. Operat. Res. 272(3), 945\u2013961 (2018)","journal-title":"European J. Operat. Res."},{"key":"1291_CR27","doi-asserted-by":"publisher","first-page":"290","DOI":"10.1016\/j.ijdrr.2017.10.015","volume":"27","author":"B Vahdani","year":"2018","unstructured":"Vahdani, B., Veysmoradi, D., Noori, F., Mansour, F.: Two-stage multi-objective locationrouting- inventory model for humanitarian logistics network design under uncertainty. Int. J. Disaster Risk Reduct. 27, 290\u2013306 (2018)","journal-title":"Int. J. Disaster Risk Reduct."},{"key":"1291_CR28","doi-asserted-by":"publisher","first-page":"893","DOI":"10.1016\/j.jclepro.2018.02.235","volume":"184","author":"F Mahmoudsoltani","year":"2018","unstructured":"Mahmoudsoltani, F., Shahbandarzadeh, H., Moghdani, R.: Using pareto-based multiobjective evolution algorithms in decision structure to transfer the hazardous materials to safety storage centre. J. Clean. Prod. 184, 893\u2013911 (2018)","journal-title":"J. Clean. Prod."},{"key":"1291_CR29","doi-asserted-by":"publisher","first-page":"360","DOI":"10.1016\/j.cie.2018.05.001","volume":"120","author":"M Rashidnejad","year":"2018","unstructured":"Rashidnejad, M., Ebrahimnejad, S., Safari, J.: A bi-objective model of preventive maintenance planning in distributed systems considering vehicle routing problem. Comput. Industrial Eng. 120, 360\u2013381 (2018)","journal-title":"Comput. Industrial Eng."},{"key":"1291_CR30","first-page":"428","volume":"27","author":"B Bahmankhah","year":"2017","unstructured":"Bahmankhah, B., Coelho, M.C.: Multi-objective optimization for short distance trips in an urban area: choosing between motor vehicle or cycling mobility for a safe, smooth and less polluted route. Transp. Res. Rec. 27, 428\u2013435 (2017)","journal-title":"Transp. Res. Rec."},{"key":"1291_CR31","doi-asserted-by":"crossref","unstructured":"Li, X., Wang, H., Wu, Q.: Multi-objective optimization in ship weather routing. In: 2017 Constructive Nonsmooth Analysis and Related Topics, pp 1\u20134. IEEE, St. Petersburg, Rusia (2017)","DOI":"10.1109\/CNSA.2017.7973982"},{"key":"1291_CR32","doi-asserted-by":"publisher","first-page":"41","DOI":"10.1016\/j.cie.2016.07.008","volume":"99","author":"H Maghsoudlou","year":"2016","unstructured":"Maghsoudlou, H., Kahag, M.R., Niaki, S.T.A., Pourvaziri, H.: Bi-objective optimization of a three-echelon multi-server supply-chain problem in congested systems: modelling and solution. Comput. Ind. Eng. 99, 41\u201362 (2016)","journal-title":"Comput. Ind. Eng."},{"key":"1291_CR33","doi-asserted-by":"publisher","first-page":"577","DOI":"10.1109\/TEVC.2013.2281535","volume":"18","author":"K Deb","year":"2014","unstructured":"Deb, K., Jain, H.: An evolutionary many-objective optimization algorithm using referencepoint- based nondominated sorting approach, Part i: solving problems with box constraints. IEEE Trans. Evol. Comput. 18, 577\u2013601 (2014)","journal-title":"IEEE Trans. Evol. Comput."},{"issue":"8","key":"1291_CR34","doi-asserted-by":"publisher","first-page":"2551","DOI":"10.1016\/j.asr.2019.01.006","volume":"63","author":"K Wu","year":"2019","unstructured":"Wu, K., Zhan, D., Chen, Z., Chen, J., Shao, X.: Multi-type multi-objective imaging scheduling method based on improved NSGA-III for satellite formation system. Adv. Space Res. 63(8), 2551\u20132565 (2019)","journal-title":"Adv. Space Res."},{"key":"1291_CR35","doi-asserted-by":"publisher","first-page":"488","DOI":"10.1016\/j.compag.2019.01.016","volume":"157","author":"MSA Mahmud","year":"2019","unstructured":"Mahmud, M.S.A., Zainal Abidin, M.S., Mohamed, Z., Rahman, M.K.I.A., Iida, M.: Multiobjective path planner for an agricultural mobile robot in a virtual greenhouse environment. Comput. Electron. Agric. 157, 488\u2013499 (2019)","journal-title":"Comput. Electron. Agric."},{"issue":"2","key":"1291_CR36","doi-asserted-by":"publisher","first-page":"173","DOI":"10.1162\/106365600568202","volume":"8","author":"E Zitzler","year":"2000","unstructured":"Zitzler, E., Deb, K., Thiele, L.: Comparison of multiobjective evolutionary algorithms: empirical results. Evol. Comput. 8(2), 173\u2013195 (2000)","journal-title":"Evol. Comput."},{"key":"1291_CR37","unstructured":"Yarpiz. Multiobjective Optimization. https:\/\/yarpiz.com\/category\/multiobjective-optimization. Accessed 28 June 2020"},{"key":"1291_CR38","unstructured":"Ministry of Health Malaysia: Drinking Water Quality Surveillance Program. http:\/\/kmam.moh.gov.my\/public-user\/drinking-water-quality-standard.html. Accessed 19 March 2020 (2010)"},{"issue":"11\u201312","key":"1291_CR39","doi-asserted-by":"publisher","first-page":"1245","DOI":"10.1016\/S0045-7825(01)00323-1","volume":"191","author":"CAC Coello","year":"2002","unstructured":"Coello, C.A.C.: Theoretical and numerical constraint-handling techniques used with evolutionary algorithms: a survey of the state of the art. Comput. Methods Appl. Mech. Eng. 191(11\u201312), 1245\u20131287 (2002)","journal-title":"Comput. Methods Appl. Mech. Eng."},{"issue":"4","key":"1291_CR40","doi-asserted-by":"publisher","first-page":"257","DOI":"10.1109\/4235.797969","volume":"3","author":"E Zitzler","year":"1999","unstructured":"Zitzler, E., Thiele, L.: Multiobjective evolutionary algorithms: a comparative case study and the strength Pareto approach. IEEE Trans. Evol. Comput. 3(4), 257\u2013271 (1999)","journal-title":"IEEE Trans. Evol. Comput."},{"issue":"2","key":"1291_CR41","doi-asserted-by":"publisher","first-page":"117","DOI":"10.1109\/TEVC.2003.810758","volume":"7","author":"E Zitzler","year":"2003","unstructured":"Zitzler, E., Thiele, L., Laumanns, M., Fonseca, C.M., Da Fonseca, V.G.: Performance assessment of multiobjective optimizers: an analysis and review. IEEE Trans. Evol. Comput. 7(2), 117\u2013132 (2003)","journal-title":"IEEE Trans. Evol. Comput."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-020-01291-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-020-01291-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-020-01291-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,1,20]],"date-time":"2021-01-20T13:14:43Z","timestamp":1611148483000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-020-01291-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,12,10]]},"references-count":41,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2021,1]]}},"alternative-id":["1291"],"URL":"https:\/\/doi.org\/10.1007\/s10846-020-01291-0","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,12,10]]},"assertion":[{"value":"25 March 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 November 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 December 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}],"article-number":"9"}}