{"id":"https://openalex.org/W2000953548","doi":"https://doi.org/10.1109/oceansap.2006.4393968","title":"Test-bed for Navigation and Control of a Thruster based AUV","display_name":"Test-bed for Navigation and Control of a Thruster based AUV","publication_year":2006,"publication_date":"2006-05-01","ids":{"openalex":"https://openalex.org/W2000953548","doi":"https://doi.org/10.1109/oceansap.2006.4393968","mag":"2000953548"},"language":"en","primary_location":{"id":"doi:10.1109/oceansap.2006.4393968","doi":"https://doi.org/10.1109/oceansap.2006.4393968","is_oa":false,"landing_page_url":"https://doi.org/10.1109/oceansap.2006.4393968","pdf_url":null,"source":{"id":"https://openalex.org/S4306521326","display_name":"OCEANS 2006 - Asia Pacific","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"OCEANS 2006 - Asia Pacific","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044837841","display_name":"R. Prasanth Kumar","orcid":"https://orcid.org/0000-0002-1671-752X","observed_orcids":["https://orcid.org/0000-0002-1671-752X"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"R. Prasanth Kumar","raw_affiliation_strings":["Department of Mechanical Engineering, Robotics and Intelligent Systems Lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Robotics and Intelligent Systems Lab","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083084622","display_name":"S. Sarath Babu","orcid":"https://orcid.org/0009-0005-4052-8808","observed_orcids":["https://orcid.org/0009-0005-4052-8808"]},"institutions":[{"id":"https://openalex.org/I145894827","display_name":"Indian Institute of Technology Kharagpur","ror":"https://ror.org/03w5sq511","country_code":"IN","type":"education","lineage":["https://openalex.org/I145894827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"S. Sarath Babu","raw_affiliation_strings":["Department of Mechanical Engineering, Robotics and Intelligent Systems Lab","Robotics and Intelligent Systems Laboratory, Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, West Bengal, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Robotics and Intelligent Systems Lab","institution_ids":[]},{"raw_affiliation_string":"Robotics and Intelligent Systems Laboratory, Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, West Bengal, India","institution_ids":["https://openalex.org/I145894827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043573053","display_name":"Y. Srilekha","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I145894827","display_name":"Indian Institute of Technology Kharagpur","ror":"https://ror.org/03w5sq511","country_code":"IN","type":"education","lineage":["https://openalex.org/I145894827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Y. Srilekha","raw_affiliation_strings":["Department of Mechanical Engineering, Robotics and Intelligent Systems Lab","Robotics and Intelligent Systems Laboratory, Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, West Bengal, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Robotics and Intelligent Systems Lab","institution_ids":[]},{"raw_affiliation_string":"Robotics and Intelligent Systems Laboratory, Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, West Bengal, India","institution_ids":["https://openalex.org/I145894827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079722818","display_name":"Cheruvu Siva Kumar","orcid":"https://orcid.org/0000-0001-7636-0625","observed_orcids":["https://orcid.org/0000-0001-7636-0625"]},"institutions":[{"id":"https://openalex.org/I145894827","display_name":"Indian Institute of Technology Kharagpur","ror":"https://ror.org/03w5sq511","country_code":"IN","type":"education","lineage":["https://openalex.org/I145894827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"C.S. Kumar","raw_affiliation_strings":["Department of Mechanical Engineering, Robotics and Intelligent Systems Lab","Robotics and Intelligent Systems Laboratory, Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, West Bengal, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Robotics and Intelligent Systems Lab","institution_ids":[]},{"raw_affiliation_string":"Robotics and Intelligent Systems Laboratory, Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, West Bengal, India","institution_ids":["https://openalex.org/I145894827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101819813","display_name":"Debabrata Sen","orcid":"https://orcid.org/0000-0002-5191-5425","observed_orcids":["https://orcid.org/0000-0002-5191-5425","https://orcid.org/0009-0007-3207-0651"]},"institutions":[{"id":"https://openalex.org/I145894827","display_name":"Indian Institute of Technology Kharagpur","ror":"https://ror.org/03w5sq511","country_code":"IN","type":"education","lineage":["https://openalex.org/I145894827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"D. Sen","raw_affiliation_strings":["Department of Ocean Engineering and Naval Architecture, Indian Institute of Technology, Kharagpur, WB, INDIA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Ocean Engineering and Naval Architecture, Indian Institute of Technology, Kharagpur, WB, INDIA","institution_ids":["https://openalex.org/I145894827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101682648","display_name":"Anirvan DasGupta","orcid":"https://orcid.org/0000-0002-8430-1999","observed_orcids":["https://orcid.org/0000-0002-8430-1999"]},"institutions":[{"id":"https://openalex.org/I145894827","display_name":"Indian Institute of Technology Kharagpur","ror":"https://ror.org/03w5sq511","country_code":"IN","type":"education","lineage":["https://openalex.org/I145894827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"A. Dasgupta","raw_affiliation_strings":["Department of Mechanical Engineering, Robotics and Intelligent Systems Lab","Robotics and Intelligent Systems Laboratory, Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, West Bengal, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Robotics and Intelligent Systems Lab","institution_ids":[]},{"raw_affiliation_string":"Robotics and Intelligent Systems Laboratory, Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, West Bengal, India","institution_ids":["https://openalex.org/I145894827"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7461,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.60342091,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9970999956130981,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9970999956130981,"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"}},{"id":"https://openalex.org/T11604","display_name":"Ship Hydrodynamics and Maneuverability","score":0.002300000051036477,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.00019999999494757503,"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/autonomous-underwater-vehicles","display_name":"autonomous underwater vehicles","score":0.8090000152587891},{"id":"https://openalex.org/keywords/thruster-control","display_name":"thruster control","score":0.8389999866485596},{"id":"https://openalex.org/keywords/testbed","display_name":"testbed","score":0.6740000247955322},{"id":"https://openalex.org/keywords/station-keeping","display_name":"station keeping","score":0.9079999923706055},{"id":"https://openalex.org/keywords/low-speed-motion","display_name":"low-speed motion","score":0.6779999732971191},{"id":"https://openalex.org/keywords/high-maneuverability","display_name":"high maneuverability","score":0.8560000061988831},{"id":"https://openalex.org/keywords/experimental-validation","display_name":"experimental validation","score":0.47600001096725464}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5734906196594238},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.5510618090629578},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5085831880569458},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4262073040008545},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.4235188066959381},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4203551411628723},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36441856622695923},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31025972962379456},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2754257619380951},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23100054264068604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07101842761039734},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.07038682699203491},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/oceansap.2006.4393968","doi":"https://doi.org/10.1109/oceansap.2006.4393968","is_oa":false,"landing_page_url":"https://doi.org/10.1109/oceansap.2006.4393968","pdf_url":null,"source":{"id":"https://openalex.org/S4306521326","display_name":"OCEANS 2006 - Asia Pacific","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"OCEANS 2006 - Asia Pacific","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320325536","display_name":"Indian Institute of Technology Kharagpur","ror":"https://ror.org/03w5sq511"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":3,"referenced_works":["https://openalex.org/W1590684588","https://openalex.org/W2058643954","https://openalex.org/W2089267221"],"related_works":["https://openalex.org/W34013133","https://openalex.org/W2324685926","https://openalex.org/W1990748267","https://openalex.org/W1531345097","https://openalex.org/W2114824346","https://openalex.org/W4415914691","https://openalex.org/W1975348025","https://openalex.org/W2087515711","https://openalex.org/W2075188325","https://openalex.org/W2548644050"],"abstract_inverted_index":{"A":[0],"thruster":[1,90,115,167],"controlled":[2,91,143,168],"AUV":[3,10],"is":[4,16,158],"being":[5],"developed":[6,60],"for":[7,25,41,81,110,165],"the":[8,42,51,67,71,74,141],"Indian":[9],"project.":[11],"All":[12],"motions":[13],"and":[14,31,38,49,57,73,92,101],"control":[15,52,79],"carried":[17],"out":[18],"by":[19],"a":[20,36,45,105,150,173],"set":[21],"of":[22,70,84,103,175],"five":[23],"thrusters":[24],"controlling":[26],"positions":[27],"in":[28,96,122],"two":[29],"attitudes":[30],"three":[32],"linear":[33],"directions.":[34],"As":[35],"prototype":[37],"verification":[39],"system":[40],"above":[43,149],"AUV,":[44],"test-bed":[46,72,106,155],"to":[47,77,160,181],"develop":[48,78],"validate":[50],"schemes":[53],"was":[54],"found":[55],"necessary":[56],"has":[58,107],"been":[59,108],"at":[61],"IIT":[62],"Kharagpur.":[63],"This":[64],"paper":[65],"describes":[66],"design":[68,100],"criteria":[69],"methods":[75],"used":[76,121],"scheme":[80],"such":[82,104],"class":[83],"underwater":[85,169],"vehicles,":[86],"which":[87,118,145],"are":[88,138,146],"wholly":[89],"can":[93],"be":[94,120],"implemented":[95],"this":[97],"test-bed.":[98],"The":[99,154],"capabilities":[102],"considered":[109],"taking":[111],"into":[112],"account":[113],"similar":[114],"actuated":[116],"AUVs":[117],"may":[119],"conditions":[123],"like":[124],"low":[125],"speed":[126],"motion":[127],"as":[128,130],"well":[129],"high":[131],"maneuverability,":[132],"station":[133,179],"keeping":[134,180],"etc.":[135],"Such":[136],"vehicles":[137,144,170],"different":[139],"from":[140],"hydroplane":[142],"more":[147],"effective":[148],"certain":[151],"operational":[152,176],"velocity.":[153],"proposed":[156],"here":[157],"targeted":[159],"generate":[161],"valuable":[162],"experimental":[163],"data":[164],"full":[166],"operating":[171],"over":[172],"range":[174],"velocities":[177],"including":[178],"cruising":[182],"modes.":[183]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-09-25T08:18:29.962427","created_date":"2016-06-24T00:00:00"}
