{"id":"https://openalex.org/W1961413356","doi":"https://doi.org/10.1109/cca.2015.7320836","title":"A control-oriented model of underwater snake robots exposed to currents","display_name":"A control-oriented model of underwater snake robots exposed to currents","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W1961413356","doi":"https://doi.org/10.1109/cca.2015.7320836","mag":"1961413356"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2015.7320836","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2015.7320836","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE Conference on Control Applications (CCA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://ntnuopen.ntnu.no/ntnu-xmlui/bitstream/11250/2390931/3/Kohl_MSC15_fin.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036512781","display_name":"A. M. Kohl","orcid":null},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":true,"raw_author_name":"A. M. Kohl","raw_affiliation_strings":["Department of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems (AMOS), Trondheim, Norway","Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics at NTNU, NO-7491 Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems (AMOS), Trondheim, Norway","institution_ids":[]},{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics at NTNU, NO-7491 Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024657122","display_name":"Eleni Kelasidi","orcid":"https://orcid.org/0000-0003-4768-2937"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"E. Kelasidi","raw_affiliation_strings":["Department of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems (AMOS), Trondheim, Norway","Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics at NTNU, NO-7491 Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems (AMOS), Trondheim, Norway","institution_ids":[]},{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics at NTNU, NO-7491 Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055872448","display_name":"Kristin Y. Pettersen","orcid":"https://orcid.org/0000-0002-3897-0315"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"K. Y. Pettersen","raw_affiliation_strings":["Department of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems (AMOS), Trondheim, Norway","Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics at NTNU, NO-7491 Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems (AMOS), Trondheim, Norway","institution_ids":[]},{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics at NTNU, NO-7491 Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034485872","display_name":"Jan Tommy Gravdahl","orcid":"https://orcid.org/0000-0002-5663-0795"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"J. T. Gravdahl","raw_affiliation_strings":["Department of Engineering Cybernetics, NTNU, Trondheim, Norway","Department of Engineering Cybernetics at NTNU, NO-7491 Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, NTNU, Trondheim, Norway","institution_ids":[]},{"raw_affiliation_string":"Department of Engineering Cybernetics at NTNU, NO-7491 Trondheim, Norway","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5036512781"],"corresponding_institution_ids":["https://openalex.org/I204778367"],"apc_list":null,"apc_paid":null,"fwci":1.8563,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.85041478,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1585","last_page":"1592"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9957000017166138,"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":0.9957000017166138,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9818999767303467,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robot","display_name":"Robot","score":0.7571260929107666},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6843303442001343},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5466637015342712},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5396298170089722},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5010178089141846},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4399329721927643},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4282616674900055},{"id":"https://openalex.org/keywords/basis","display_name":"Basis (linear algebra)","score":0.41894692182540894},{"id":"https://openalex.org/keywords/conservative-vector-field","display_name":"Conservative vector field","score":0.41525936126708984},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.41312193870544434},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4069752097129822},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38431376218795776},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3340032696723938},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2911680340766907},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2281184196472168},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20585346221923828},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16865947842597961},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.15248286724090576},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.10691601037979126},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0904519259929657},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08926737308502197}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7571260929107666},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6843303442001343},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5466637015342712},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5396298170089722},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5010178089141846},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4399329721927643},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4282616674900055},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.41894692182540894},{"id":"https://openalex.org/C147457402","wikidata":"https://www.wikidata.org/wiki/Q1588205","display_name":"Conservative vector field","level":3,"score":0.41525936126708984},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.41312193870544434},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4069752097129822},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38431376218795776},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3340032696723938},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2911680340766907},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2281184196472168},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20585346221923828},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16865947842597961},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.15248286724090576},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.10691601037979126},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0904519259929657},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08926737308502197},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C84655787","wikidata":"https://www.wikidata.org/wiki/Q8067817","display_name":"Compressibility","level":2,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cca.2015.7320836","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2015.7320836","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE Conference on Control Applications (CCA)","raw_type":"proceedings-article"},{"id":"pmh:oai:brage.bibsys.no:11250/2390931","is_oa":true,"landing_page_url":"http://hdl.handle.net/11250/2390931","pdf_url":"https://ntnuopen.ntnu.no/ntnu-xmlui/bitstream/11250/2390931/3/Kohl_MSC15_fin.pdf","source":{"id":"https://openalex.org/S4306400255","display_name":"BIBSYS Brage (BIBSYS (Norway))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I173212132","host_organization_name":"Vilnius University","host_organization_lineage":["https://openalex.org/I173212132"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"1585-1592","raw_type":"Conference object"}],"best_oa_location":{"id":"pmh:oai:brage.bibsys.no:11250/2390931","is_oa":true,"landing_page_url":"http://hdl.handle.net/11250/2390931","pdf_url":"https://ntnuopen.ntnu.no/ntnu-xmlui/bitstream/11250/2390931/3/Kohl_MSC15_fin.pdf","source":{"id":"https://openalex.org/S4306400255","display_name":"BIBSYS Brage (BIBSYS (Norway))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I173212132","host_organization_name":"Vilnius University","host_organization_lineage":["https://openalex.org/I173212132"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"1585-1592","raw_type":"Conference object"},"sustainable_development_goals":[{"score":0.8600000143051147,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G3748656914","display_name":null,"funder_award_id":"Norway","funder_id":"https://openalex.org/F4320323299","funder_display_name":"Norges Forskningsr\u00e5d"},{"id":"https://openalex.org/G613757393","display_name":null,"funder_award_id":"22325","funder_id":"https://openalex.org/F4320323299","funder_display_name":"Norges Forskningsr\u00e5d"},{"id":"https://openalex.org/G7688019581","display_name":null,"funder_award_id":"223254","funder_id":"https://openalex.org/F4320323299","funder_display_name":"Norges Forskningsr\u00e5d"},{"id":"https://openalex.org/G897941950","display_name":null,"funder_award_id":"223254-AMOS","funder_id":"https://openalex.org/F4320323299","funder_display_name":"Norges Forskningsr\u00e5d"}],"funders":[{"id":"https://openalex.org/F4320323299","display_name":"Norges Forskningsr\u00e5d","ror":"https://ror.org/00epmv149"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1961413356.pdf","grobid_xml":"https://content.openalex.org/works/W1961413356.grobid-xml"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W98734704","https://openalex.org/W1573670163","https://openalex.org/W1628288941","https://openalex.org/W1939016165","https://openalex.org/W2010085093","https://openalex.org/W2017533233","https://openalex.org/W2040316861","https://openalex.org/W2042177088","https://openalex.org/W2056659978","https://openalex.org/W2069134924","https://openalex.org/W2082553117","https://openalex.org/W2126095117","https://openalex.org/W2129974228","https://openalex.org/W2492811885","https://openalex.org/W2766607630","https://openalex.org/W3026829485"],"related_works":["https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W2972304526","https://openalex.org/W2101598871","https://openalex.org/W2109003837","https://openalex.org/W2119963650","https://openalex.org/W4312096302","https://openalex.org/W2005471069","https://openalex.org/W2075639008","https://openalex.org/W2109573574"],"abstract_inverted_index":{"This":[0,78],"paper":[1],"presents":[2],"a":[3,7,17,28,34,58,81,109,124],"control-oriented":[4],"model":[5,47,82,96,107],"of":[6,54,65,111,131],"neutrally":[8],"buoyant":[9],"underwater":[10],"snake":[11],"robot":[12,22,56],"that":[13,69,121,142],"is":[14,23,48],"exposed":[15],"to":[16,25,49,74,118],"constant":[18],"irrotational":[19],"current.":[20],"The":[21,42],"assumed":[24],"move":[26],"in":[27,80],"horizontal,":[29],"fully":[30],"submerged":[31],"plane":[32],"with":[33,83],"sinusoidal":[35,112],"gait":[36,113],"pattern":[37],"and":[38,101,108],"limited":[39],"link":[40],"angles.":[41],"intention":[43],"behind":[44],"the":[45,51,55,66,75,94,127,132,145],"proposed":[46],"describe":[50],"qualitative":[52],"behaviour":[53],"by":[57],"simplified":[59,128],"kinematic":[60],"approach,":[61],"thus":[62],"neglecting":[63],"some":[64],"non-linear":[67],"effects":[68],"do":[70],"not":[71],"significantly":[72,84],"contribute":[73],"overall":[76],"behaviour.":[77],"results":[79,147],"less":[85],"complex":[86,106],"dynamic":[87],"equations":[88],"than":[89],"existing":[90],"models,":[91],"which":[92],"makes":[93],"new":[95],"well-fitted":[97],"for":[98,126,138],"control":[99],"design":[100],"analysis.":[102],"An":[103],"existing,":[104],"more":[105],"class":[110],"patterns":[114],"are":[115,135,148],"analysed,":[116],"leading":[117],"several":[119],"properties":[120,134],"serve":[122],"as":[123],"basis":[125],"model.":[129],"Some":[130],"revealed":[133],"also":[136],"valid":[137],"ground":[139],"robots.":[140],"Simulations":[141],"qualitatively":[143],"validate":[144],"theoretical":[146],"presented.":[149]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}