{"id":"https://openalex.org/W4391940406","doi":"https://doi.org/10.1109/icra57147.2024.10611132","title":"An Augmented Catenary Model for Underwater Tethered Robots","display_name":"An Augmented Catenary Model for Underwater Tethered Robots","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4391940406","doi":"https://doi.org/10.1109/icra57147.2024.10611132"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611132","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611132","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04459364v1/file/ICRA24_0633_MS%20%281%29.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093957407","display_name":"Martin Filliung","orcid":null},"institutions":[{"id":"https://openalex.org/I143002897","display_name":"Universit\u00e9 de Toulon","ror":"https://ror.org/02m9kbe37","country_code":"FR","type":"education","lineage":["https://openalex.org/I143002897"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Martin Filliung","raw_affiliation_strings":["Univ. de Toulon,COSMER Laboratory,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. de Toulon,COSMER Laboratory,France","institution_ids":["https://openalex.org/I143002897"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021159669","display_name":"Juliette Drupt","orcid":"https://orcid.org/0000-0003-3311-7742"},"institutions":[{"id":"https://openalex.org/I143002897","display_name":"Universit\u00e9 de Toulon","ror":"https://ror.org/02m9kbe37","country_code":"FR","type":"education","lineage":["https://openalex.org/I143002897"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Juliette Drupt","raw_affiliation_strings":["Univ. de Toulon,COSMER Laboratory,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. de Toulon,COSMER Laboratory,France","institution_ids":["https://openalex.org/I143002897"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093861397","display_name":"Charly P\u00e9raud","orcid":null},"institutions":[{"id":"https://openalex.org/I143002897","display_name":"Universit\u00e9 de Toulon","ror":"https://ror.org/02m9kbe37","country_code":"FR","type":"education","lineage":["https://openalex.org/I143002897"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Charly Peraud","raw_affiliation_strings":["Univ. de Toulon,COSMER Laboratory,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. de Toulon,COSMER Laboratory,France","institution_ids":["https://openalex.org/I143002897"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024450337","display_name":"Claire Dune","orcid":"https://orcid.org/0000-0003-0221-5614"},"institutions":[{"id":"https://openalex.org/I143002897","display_name":"Universit\u00e9 de Toulon","ror":"https://ror.org/02m9kbe37","country_code":"FR","type":"education","lineage":["https://openalex.org/I143002897"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Claire Dune","raw_affiliation_strings":["Univ. de Toulon,COSMER Laboratory,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. de Toulon,COSMER Laboratory,France","institution_ids":["https://openalex.org/I143002897"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089211553","display_name":"Nicolas Boizot","orcid":"https://orcid.org/0000-0001-7898-8723"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I143002897","display_name":"Universit\u00e9 de Toulon","ror":"https://ror.org/02m9kbe37","country_code":"FR","type":"education","lineage":["https://openalex.org/I143002897"]},{"id":"https://openalex.org/I4210114274","display_name":"Laboratoire d\u2019Informatique et Syst\u00e8mes","ror":"https://ror.org/0257sgk90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I21491767","https://openalex.org/I4210114274"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Boizot","raw_affiliation_strings":["Univ. de Toulon, Aix Marseille Univ,CNRS LIS,Marseille,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. de Toulon, Aix Marseille Univ,CNRS LIS,Marseille,France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I4210114274"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066992384","display_name":"Andrew I. Comport","orcid":"https://orcid.org/0000-0002-3959-3195"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Andrew Comport","raw_affiliation_strings":["Univ. C&#x00F4;te d&#x2019;Azur,CNRS I3S Laboratory,Sophia Antipolis,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. C&#x00F4;te d&#x2019;Azur,CNRS I3S Laboratory,Sophia Antipolis,France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058128210","display_name":"C\u00e9dric Anthierens","orcid":"https://orcid.org/0000-0003-4561-3049"},"institutions":[{"id":"https://openalex.org/I143002897","display_name":"Universit\u00e9 de Toulon","ror":"https://ror.org/02m9kbe37","country_code":"FR","type":"education","lineage":["https://openalex.org/I143002897"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Cedric Anthierens","raw_affiliation_strings":["Univ. de Toulon,COSMER Laboratory,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. de Toulon,COSMER Laboratory,France","institution_ids":["https://openalex.org/I143002897"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067757964","display_name":"Vincent Hugel","orcid":"https://orcid.org/0000-0003-3675-4894"},"institutions":[{"id":"https://openalex.org/I143002897","display_name":"Universit\u00e9 de Toulon","ror":"https://ror.org/02m9kbe37","country_code":"FR","type":"education","lineage":["https://openalex.org/I143002897"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Vincent Hugel","raw_affiliation_strings":["Univ. de Toulon,COSMER Laboratory,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. de Toulon,COSMER Laboratory,France","institution_ids":["https://openalex.org/I143002897"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6051","last_page":"6057"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9857000112533569,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9778000116348267,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/catenary","display_name":"Catenary","score":0.9021593332290649},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7135787606239319},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6545482873916626},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6516487002372742},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.4261137843132019},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3717540502548218},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24279305338859558},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.22785216569900513},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22584569454193115},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.0674700140953064},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.0540902316570282}],"concepts":[{"id":"https://openalex.org/C29279314","wikidata":"https://www.wikidata.org/wiki/Q214561","display_name":"Catenary","level":2,"score":0.9021593332290649},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7135787606239319},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6545482873916626},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6516487002372742},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.4261137843132019},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3717540502548218},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24279305338859558},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.22785216569900513},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22584569454193115},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0674700140953064},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0540902316570282}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra57147.2024.10611132","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611132","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04459364v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04459364","pdf_url":"https://hal.science/hal-04459364v1/file/ICRA24_0633_MS%20%281%29.pdf","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://2024.ieee-icra.org/","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04459364v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04459364","pdf_url":"https://hal.science/hal-04459364v1/file/ICRA24_0633_MS%20%281%29.pdf","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://2024.ieee-icra.org/","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4391940406.pdf","grobid_xml":"https://content.openalex.org/works/W4391940406.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W2005660297","https://openalex.org/W2026725828","https://openalex.org/W2057518652","https://openalex.org/W2078950386","https://openalex.org/W2085540834","https://openalex.org/W2492811885","https://openalex.org/W2561666225","https://openalex.org/W2766821096","https://openalex.org/W2808687715","https://openalex.org/W2998664587","https://openalex.org/W3006643662","https://openalex.org/W3007769676","https://openalex.org/W3021665229","https://openalex.org/W3111555313","https://openalex.org/W3134085424","https://openalex.org/W4221161715","https://openalex.org/W4226115192","https://openalex.org/W4310390695","https://openalex.org/W4312199734","https://openalex.org/W4312577730","https://openalex.org/W4383097458","https://openalex.org/W6847066460"],"related_works":["https://openalex.org/W4392107026","https://openalex.org/W2527106474","https://openalex.org/W2387267510","https://openalex.org/W4213239480","https://openalex.org/W2355659466","https://openalex.org/W3009196399","https://openalex.org/W4390571018","https://openalex.org/W4385468390","https://openalex.org/W3138665947","https://openalex.org/W3208544977"],"abstract_inverted_index":{"This":[0],"paper":[1],"examines":[2],"the":[3,23,40,73,78,84,105,109],"relevance":[4],"of":[5,25,43,51,64,72,104],"using":[6],"catenary-based":[7,33],"curves":[8],"to":[9,19,37,91],"model":[10,34],"cables":[11,63,94],"in":[12,17],"underwater":[13,85],"tethered":[14],"robotic":[15],"applications":[16],"order":[18],"take":[20],"into":[21],"account":[22],"influence":[24],"hydrodynamic":[26],"damping.":[27],"To":[28],"this":[29],"end,":[30],"an":[31],"augmented":[32],"is":[35,75,81],"introduced":[36],"deal":[38],"with":[39,61,100],"dynamical":[41],"effects":[42],"surge":[44],"motion,":[45],"sway":[46],"motion":[47],"or":[48],"a":[49,54,101],"combination":[50],"both":[52],"on":[53],"cable.":[55],"Experimental":[56],"studies":[57],"are":[58,98],"carried":[59],"out":[60],"eight":[62],"varying":[65],"stiffness,":[66],"weight":[67],"and":[68,95],"buoyancy.":[69],"One":[70],"end":[71,80],"cable":[74,106],"fixed,":[76],"while":[77],"other":[79],"moved":[82],"by":[83],"robot.":[86],"The":[87],"obtained":[88],"results":[89],"help":[90],"determine":[92],"which":[93,96],"dynamics":[97],"compatible":[99],"fair":[102],"estimation":[103],"shape":[107],"through":[108],"proposed":[110],"models.":[111]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
