{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,20]],"date-time":"2026-02-20T02:23:33Z","timestamp":1771554213773,"version":"3.50.1"},"reference-count":165,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"1","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE\/CAA J. Autom. Sinica"],"published-print":{"date-parts":[[2023,1]]},"DOI":"10.1109\/jas.2022.106016","type":"journal-article","created":{"date-parts":[[2022,10,4]],"date-time":"2022-10-04T19:46:02Z","timestamp":1664912762000},"page":"8-24","source":"Crossref","is-referenced-by-count":119,"title":["Mpc-based motion planning and control enables smarter and safer autonomous marine vehicles: perspectives and a tutorial survey"],"prefix":"10.1109","volume":"10","author":[{"given":"Henglai","family":"Wei","sequence":"first","affiliation":[{"name":"University of Victoria,Department of Mechanical Engineering,Victoria,BC,Canada,V8N 3P6"}]},{"given":"Yang","family":"Shi","sequence":"additional","affiliation":[{"name":"University of Victoria,Department of Mechanical Engineering,Victoria,BC,Canada,V8N 3P6"}]}],"member":"263","reference":[{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/ICUS.2017.8278413"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3075662"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/9.739086"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2016.2587288"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2011.2106212"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)37049-0"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2531792"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2015.2497280"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)38432-X"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2020.12.1456"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.23919\/ECC.2018.8550178"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1016\/j.apor.2021.102799"},{"key":"ref48","doi-asserted-by":"crossref","first-page":"107706","DOI":"10.1016\/j.oceaneng.2020.107706","article-title":"Safe navigation in a coastal environment of multiple surface vehicles under uncertainties: A combined use of potential field constructions and NMPC","volume":"216","author":"prodan","year":"2020","journal-title":"Ocean Engineering"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2019.106609"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811608"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21919"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2020.3001183"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/CDC42340.2020.9303858"},{"key":"ref49","article-title":"Trajectory planning for multiple autonomous underwater vehicles with safety guarantees","author":"zhang","year":"2020","journal-title":"ArXiv Preprint"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2016.04.018"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1002\/9781119994138"},{"key":"ref9","author":"rawlings","year":"2017","journal-title":"Model Predictive Control Theory Computation and Design"},{"key":"ref4","author":"maritime","year":"2022","journal-title":"The Hugin AUV"},{"key":"ref3","author":"robotics","year":"2022","journal-title":"The Otter unmanned surface vehicle"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2020.2977302"},{"key":"ref5","author":"robotics","year":"2022","journal-title":"Bluerov"},{"key":"ref100","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2019.2956531"},{"key":"ref101","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2007.892826"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21900"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2011.2141410"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.23919\/ACC50511.2021.9483265"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2020.108834"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2014.03.015"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139335"},{"key":"ref148","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2022.111917"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2010.5664470"},{"key":"ref149","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2022.111268"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2016.2612689"},{"key":"ref146","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2011.2176389"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2018.8604851"},{"key":"ref147","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2013.11.019"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2016.2551780"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2022.110920"},{"key":"ref155","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2019.2963294"},{"key":"ref156","doi-asserted-by":"publisher","DOI":"10.1007\/s11432-020-3289-1"},{"key":"ref153","doi-asserted-by":"publisher","DOI":"10.1109\/JAS.2021.1003820"},{"key":"ref154","doi-asserted-by":"publisher","DOI":"10.1098\/rsta.2020.0371"},{"key":"ref151","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2021.3091981"},{"key":"ref152","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2022.01.004"},{"key":"ref150","first-page":"13","article-title":"Control as a service (CaaS) cloud-based software architecture for automotive control applications","author":"esen","year":"0","journal-title":"Proc 2nd Int Workshop Swarm at the Edge of the Cloud"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2022.105158"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2022.3162862"},{"key":"ref26","doi-asserted-by":"crossref","first-page":"111010","DOI":"10.1016\/j.oceaneng.2022.111010","article-title":"A review of path planning algorithms in maritime autonomous surface ships: Navigation safety perspective","volume":"251","author":"\u00f6zt\u00fcrk","year":"2022","journal-title":"Ocean Engineering"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/JAS.2021.1004269"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2020.107043"},{"key":"ref159","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3000426"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2021.109380"},{"key":"ref157","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2018.2802019"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2020.3014107"},{"key":"ref158","doi-asserted-by":"crossref","first-page":"6313","DOI":"10.1109\/LRA.2021.3091697","article-title":"Long-term autonomy for AUVs operating under uncertainties in dynamic marine environments","volume":"6","author":"newaz","year":"2021","journal-title":"IEEE l of Robotics and Automation"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2002.802755"},{"key":"ref27","author":"fossen","year":"2002","journal-title":"Marine control systems Guidance navigation and control of ships rigs and underwater vehicles"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2016.03.011"},{"key":"ref164","doi-asserted-by":"crossref","first-page":"87","DOI":"10.1109\/MCS.2014.2320397","article-title":"Distributed model predictive control: An overview and roadmap of future research opportunities","volume":"34","author":"negenborn","year":"2014","journal-title":"IEEE Control Systems Magazine"},{"key":"ref165","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2019.05.006"},{"key":"ref162","doi-asserted-by":"publisher","DOI":"10.1016\/j.jprocont.2009.02.003"},{"key":"ref163","doi-asserted-by":"publisher","DOI":"10.1016\/j.compchemeng.2012.05.011"},{"key":"ref160","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2016.01.010"},{"key":"ref161","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2020.108974"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2008.08.002"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2011.2159651"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2011.03.008"},{"key":"ref128","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2022.3143366"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2008.5152052"},{"key":"ref129","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2019.106802"},{"key":"ref97","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460632"},{"key":"ref126","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2021.108814"},{"key":"ref96","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2020.2987284"},{"key":"ref127","doi-asserted-by":"publisher","DOI":"10.1016\/j.apenergy.2019.113308"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225035"},{"key":"ref99","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2019.2919860"},{"key":"ref124","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907414"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2021.10.008"},{"key":"ref98","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9340712"},{"key":"ref125","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2015.2475376"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2017.04.047"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2012.09.008"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.ssci.2019.09.018"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2019.04.011"},{"key":"ref93","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2021.105024"},{"key":"ref133","doi-asserted-by":"publisher","DOI":"10.23919\/ECC.2018.8550366"},{"key":"ref92","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2022.3142323"},{"key":"ref134","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2022.111127"},{"key":"ref95","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2022.110845"},{"key":"ref131","article-title":"Safe & collaborative autonomous underwater docking","author":"bourgois","year":"2021","journal-title":"ENSTA Bretagne-Ecole nationale sup&#x00E9;rieure de techniques avanc&#x00E9;es Bretagne"},{"key":"ref94","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561331"},{"key":"ref132","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2020.12.1451"},{"key":"ref130","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2020.104299"},{"key":"ref91","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2021.109991"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2020.3036665"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2019.2899689"},{"key":"ref139","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2020.3000182"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2019.2939248"},{"key":"ref137","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2019.2959924"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2014.10.128"},{"key":"ref138","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2020.2966717"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2943007"},{"key":"ref135","doi-asserted-by":"publisher","DOI":"10.1007\/s11192-009-0146-3"},{"key":"ref87","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2018.04.026"},{"key":"ref136","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2009.12.001"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2016.2628803"},{"key":"ref144","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2020.12.1671"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2014.2303805"},{"key":"ref145","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2021.3127197"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2008.929401"},{"key":"ref142","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(02)00250-9"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2020.108863"},{"key":"ref143","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-01094-1_29"},{"key":"ref140","article-title":"Distributionally robust chance constrained data-enabled predictive control","author":"coulson","year":"2021","journal-title":"IEEE Trans Automatic Control"},{"key":"ref141","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.5686"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2020.107884"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2019.2941132"},{"key":"ref108","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2017.2740558"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2019.106309"},{"key":"ref109","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2018.04.013"},{"key":"ref106","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2020.104655"},{"key":"ref107","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2016.2599485"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.3182\/20090916-3-BR-3001.0065"},{"key":"ref104","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2018.2829730"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1002\/asjc.2208"},{"key":"ref105","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-48290-3"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2020.3016757"},{"key":"ref102","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2010.07.006"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2012.2201797"},{"key":"ref103","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2018.01.026"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2660528"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2018.10.002"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2020.107524"},{"key":"ref111","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2019.2925536"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2017.07.057"},{"key":"ref112","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2016.2589921"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.23919\/ACC50511.2021.9482890"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2021.10.071"},{"key":"ref110","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2019.106515"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2017.08.2501"},{"key":"ref119","doi-asserted-by":"publisher","DOI":"10.23919\/ACC50511.2021.9482662"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2015.2466911"},{"key":"ref117","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2021.109587"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2018.2789440"},{"key":"ref118","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.4896"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2010.5530465"},{"key":"ref115","doi-asserted-by":"publisher","DOI":"10.1109\/9.863592"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2009.5160302"},{"key":"ref116","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2017.2779442"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.3182\/20100901-3-IT-2016.00122"},{"key":"ref113","doi-asserted-by":"publisher","DOI":"10.1080\/00207170701280911"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2009.10.004"},{"key":"ref114","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2019.2946127"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2019.12.279"},{"key":"ref122","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2700010"},{"key":"ref123","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2021.3053267"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2020.107885"},{"key":"ref120","first-page":"1","article-title":"Barrier-certified distributed model predictive control of under-actuated autonomous surface vehicles via neurodynamic optimization","author":"lv","year":"2022","journal-title":"IEEE Trans Systems Man and Cybernetics Systems"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2019.106820"},{"key":"ref121","doi-asserted-by":"publisher","DOI":"10.23919\/ECC54610.2021.9654989"}],"container-title":["IEEE\/CAA Journal of Automatica Sinica"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/6570654\/10007882\/09910373.pdf?arnumber=9910373","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,4,21]],"date-time":"2023-04-21T18:25:23Z","timestamp":1682101523000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9910373\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,1]]},"references-count":165,"journal-issue":{"issue":"1"},"URL":"https:\/\/doi.org\/10.1109\/jas.2022.106016","relation":{},"ISSN":["2329-9266","2329-9274"],"issn-type":[{"value":"2329-9266","type":"print"},{"value":"2329-9274","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,1]]}}}