{"id":"https://openalex.org/W4392737037","doi":"https://doi.org/10.48550/arxiv.2403.05972","title":"C3D: Cascade Control with Change Point Detection and Deep Koopman\n Learning for Autonomous Surface Vehicles","display_name":"C3D: Cascade Control with Change Point Detection and Deep Koopman\n Learning for Autonomous Surface Vehicles","publication_year":2024,"publication_date":"2024-03-09","ids":{"openalex":"https://openalex.org/W4392737037","doi":"https://doi.org/10.48550/arxiv.2403.05972"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2403.05972","pdf_url":"https://arxiv.org/pdf/2403.05972","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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"type":"preprint","type_crossref":"posted-content","indexed_in":["arxiv"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2403.05972","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100621776","display_name":"Jianwen Li","orcid":"https://orcid.org/0000-0002-3936-937X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Jianwen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006583488","display_name":"Hyunsang Park","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Park, Hyunsang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030939982","display_name":"Wenjian Hao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hao, Wenjian","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101535850","display_name":"Xin Lei","orcid":"https://orcid.org/0000-0002-2466-3891"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xin, Lei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065553528","display_name":"Jalil Chavez\u2010Galaviz","orcid":"https://orcid.org/0000-0003-2032-2296"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chavez-Galaviz, Jalil","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101255769","display_name":"Ajinkya Chaudhary","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chaudhary, Ajinkya","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026719386","display_name":"Meredith Bloss","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bloss, Meredith","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094134726","display_name":"Kyle Pattison","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pattison, Kyle","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088437949","display_name":"Christopher Vo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vo, Christopher","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005728773","display_name":"Devesh Upadhyay","orcid":"https://orcid.org/0000-0002-2399-1850"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Upadhyay, Devesh","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076731201","display_name":"Shreyas Sundaram","orcid":"https://orcid.org/0000-0002-5390-2505"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sundaram, Shreyas","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070733769","display_name":"Shaoshuai Mou","orcid":"https://orcid.org/0000-0002-3698-4238"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mou, Shaoshuai","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5063519076","display_name":"Nina Mahmoudian","orcid":"https://orcid.org/0000-0002-3285-8234"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mahmoudian, Nina","raw_affiliation_strings":[],"affiliations":[]}],"institution_assertions":[],"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":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":0,"max":86},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Process Fault Detection and Diagnosis in Industries","score":0.9012,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10876","display_name":"Process Fault Detection and Diagnosis in Industries","score":0.9012,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.5117171},{"id":"https://openalex.org/keywords/data-driven-techniques","display_name":"Data-Driven Techniques","score":0.481235}],"concepts":[{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.70589787},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5503169},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.5117171},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47154787},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4565754},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4132452},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28107288},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20938173},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2403.05972","pdf_url":"https://arxiv.org/pdf/2403.05972","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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2403.05972","pdf_url":"https://arxiv.org/pdf/2403.05972","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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W64588465","https://openalex.org/W3134067061","https://openalex.org/W3120641340","https://openalex.org/W2153719181","https://openalex.org/W2117825986","https://openalex.org/W2079855347","https://openalex.org/W2060986072","https://openalex.org/W2052574922","https://openalex.org/W1971748923","https://openalex.org/W1566155057"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"discuss":[4],"the":[5,20,106,132,181],"development":[6],"and":[7,84,100,142,160],"deployment":[8],"of":[9,15,38,40,58,105],"a":[10,29,55,79,85,124],"robust":[11],"autonomous":[12,107],"system":[13,59,67,82,108,187],"capable":[14],"performing":[16],"various":[17],"tasks":[18],"in":[19,150,157,171,175],"maritime":[21,44],"domain":[22,93],"under":[23,65,97],"unknown":[24],"dynamic":[25],"conditions.":[26],"We":[27,130],"investigate":[28],"data-driven":[30,49],"approach":[31,50,164],"based":[32],"on":[33,92,154],"modular":[34],"design":[35],"for":[36],"ease":[37],"transfer":[39],"autonomy":[41],"across":[42],"different":[43],"surface":[45],"vessel":[46],"platforms.":[47],"The":[48,116,146,163],"alleviates":[51],"issues":[52],"related":[53],"to":[54,123,180],"priori":[56],"identification":[57],"models":[60],"that":[61,89,183],"may":[62],"become":[63],"deficient":[64],"evolving":[66],"behaviors":[68],"or":[69],"shifting,":[70],"unanticipated,":[71],"environmental":[72],"influences.":[73],"Our":[74],"proposed":[75],"learning-based":[76],"platform":[77],"comprises":[78],"deep":[80],"Koopman":[81,117,144],"model":[83,119],"change":[86],"point":[87],"detector":[88],"provides":[90],"guidance":[91],"shifts":[94],"prompting":[95],"relearning":[96],"severe":[98],"exogenous":[99],"endogenous":[101],"perturbations.":[102],"Motion":[103],"control":[104,128,134],"is":[109,148],"achieved":[110,165],"via":[111],"an":[112,155],"optimal":[113],"controller":[114],"design.":[115,129],"linearized":[118],"naturally":[120],"lends":[121],"itself":[122],"linear-quadratic":[125],"regulator":[126],"(LQR)":[127],"propose":[131],"C3D":[133],"architecture":[135],"Cascade":[136],"Control":[137],"with":[138],"Change":[139],"Point":[140],"Detection":[141],"Deep":[143],"Learning.":[145],"framework":[147],"verified":[149],"station":[151],"keeping":[152],"task":[153],"ASV":[156],"both":[158],"simulation":[159],"real":[161],"experiments.":[162],"at":[166],"least":[167],"13.9":[168],"percent":[169],"improvement":[170],"mean":[172],"distance":[173],"error":[174],"all":[176],"test":[177],"cases":[178],"compared":[179],"methods":[182],"do":[184],"not":[185],"consider":[186],"changes.":[188]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4392737037","counts_by_year":[],"updated_date":"2024-10-17T08:35:58.626185","created_date":"2024-03-13"}
