Cross-Domain Fixed-Time Formation Control for an Air-Sea Heterogeneous Unmanned System with Disturbances
Round 1
Reviewer 1 Report
I think it was appropriate in this article to also mention Can Ke and Huifang Chen's article Cooperative path planning for air–sea heterogeneous unmanned vehicles using search-and-tracking mission, which was published in Ocean Engineering 2022 (Volume 262).
Author Response
Please see the attached file.
Author Response File: 
Author Response.pdf
Reviewer 2 Report
The article seems unbalanced as of now. The introduction is very short and doesn't cover the state of the art.
The problem formulation made is confusing. It seems the nomenclature has been collected and put here. How i sit different than these:
https://ieeexplore.ieee.org/document/9689945
http://pgbiom.ufrpe.br/dissertacoes/2012/2012_dennis_marinho_oliveira_ramalho_de_souza.pdf
https://ietresearch.onlinelibrary.wiley.com/doi/10.1049/iet-cta.2014.0700
The steps involved should be explained that why these formualtions are made?
The simulation settings is missing, where are the settings table? Setting the scene is missing too.
Position trajectories in XY axis and similar are missing.
The future directions is missing.
Please evaluate the complexity of the proposed analysis with recent state of the art.
Minor english errors.
Author Response
Please see the attached file.
Author Response File: Author Response.pdf
Reviewer 3 Report
The paper presents results on coordination and communication in a heterogeneous system of devices.
The quality of the scientific contribution is not easy to assess, which is mainly due to the low quality of presentation in the manuscript. Indeed, many details are either not clear or even contradicting at times. For example:
1. In Fig. 1, the green and yellow lines indicate different communication methods. What about the red lines?
2. Is the leader not shown in Fig. 1?
3. The follower-graph is not well-defined. It is stated that a_ji = a_ij only if (i,j)\in\E, but otherwise a_ij=0. what about a_ji? Furthermore, I_ij = \sum_j a_ij in the case of i=j. j is now and index of I as well as a summation index. etc.
4. The cross-domain communication protocol is presented like all its content is mere mathematical theory without actual relation to any system!? C_ij, D_ij, E_i0 are not defined (I mean, they are defined in terms of values, BUT what are their meanings? Why are they used like this? What are implications of the results on the system? You need to better describe what you are doing from an engineering point of perspective!
Overall, due to its lack of explanations and its style of writing, I can only recommend to reject the paper. My recommendation to the authors is to take their scientific results (whatever they find to be important), and based on them write the paper anew from scratch, without reusing any text passages or structure etc. from this manuscript. Then, hopefully, they will end up in having a publishable article.
English language is okay, but still there are some grammar mistakes in the mansucript.
Author Response
Please see the attached file.
Author Response File: Author Response.pdf
Reviewer 4 Report
The paper is devoted to an interesting direction in the organization of control in the air-sea heterogeneous system, the elements of which are UAVs, USVs, UUVs.
The introduction describes the formulation of the problem and reveals its idea.
The paper defines the object of study - an air-sea heterogeneous system in which UUVs collect underwater environment data, UAVs and UUVs are responsible for observation on the surface of the water and USV acts as a relay node.
The cross-domain communication protocol is proposed to achieve state information flow. The distributed formation control protocol is proposed.
All formulas are correct. The experimental calculations confirm the results obtained.
I recommend the paper for publication.
Author Response
Please see the attached file.
Author Response File: Author Response.pdf
Round 2
Reviewer 2 Report
All comments have been addressed. Paper can be accepted in its present form.
