{"id":"https://openalex.org/W2138429052","doi":"https://doi.org/10.1109/iros.2003.1250733","title":"Development of an underwater robot, ODIN-III","display_name":"Development of an underwater robot, ODIN-III","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W2138429052","doi":"https://doi.org/10.1109/iros.2003.1250733","mag":"2138429052"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1250733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250733","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"},"type":"article","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/A5023099643","display_name":"Hyun\u2010Taek Choi","orcid":"https://orcid.org/0000-0002-1433-1957"},"institutions":[{"id":"https://openalex.org/I1331384533","display_name":"University of Hawaii System","ror":"https://ror.org/03tzaeb71","country_code":"US","type":"education","lineage":["https://openalex.org/I1331384533"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"H.T. Choi","raw_affiliation_strings":["Autonomous Systems Laboratory Department of Mechanical Engineering, University of Hawai, Honolulu, HI, USA","Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory Department of Mechanical Engineering, University of Hawai, Honolulu, HI, USA","institution_ids":["https://openalex.org/I1331384533"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA","institution_ids":["https://openalex.org/I1331384533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039253703","display_name":"A. Hanai","orcid":null},"institutions":[{"id":"https://openalex.org/I1331384533","display_name":"University of Hawaii System","ror":"https://ror.org/03tzaeb71","country_code":"US","type":"education","lineage":["https://openalex.org/I1331384533"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Hanai","raw_affiliation_strings":["Autonomous Systems Laboratory Department of Mechanical Engineering, University of Hawai, Honolulu, HI, USA","Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory Department of Mechanical Engineering, University of Hawai, Honolulu, HI, USA","institution_ids":["https://openalex.org/I1331384533"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA","institution_ids":["https://openalex.org/I1331384533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109322194","display_name":"S.K. Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I1331384533","display_name":"University of Hawaii System","ror":"https://ror.org/03tzaeb71","country_code":"US","type":"education","lineage":["https://openalex.org/I1331384533"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S.K. Choi","raw_affiliation_strings":["Autonomous Systems Laboratory Department of Mechanical Engineering, University of Hawai, Honolulu, HI, USA","Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory Department of Mechanical Engineering, University of Hawai, Honolulu, HI, USA","institution_ids":["https://openalex.org/I1331384533"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA","institution_ids":["https://openalex.org/I1331384533"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058383191","display_name":"J. Yuh","orcid":"https://orcid.org/0000-0002-8223-9108"},"institutions":[{"id":"https://openalex.org/I1331384533","display_name":"University of Hawaii System","ror":"https://ror.org/03tzaeb71","country_code":"US","type":"education","lineage":["https://openalex.org/I1331384533"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Yuh","raw_affiliation_strings":["Autonomous Systems Laboratory Department of Mechanical Engineering, University of Hawai, Honolulu, HI, USA","Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory Department of Mechanical Engineering, University of Hawai, Honolulu, HI, USA","institution_ids":["https://openalex.org/I1331384533"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA","institution_ids":["https://openalex.org/I1331384533"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5023099643"],"corresponding_institution_ids":["https://openalex.org/I1331384533"],"apc_list":null,"apc_paid":null,"fwci":0.8199,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.7620123,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"1","issue":null,"first_page":"836","last_page":"841"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9991999864578247,"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":0.9909999966621399,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.8000781536102295},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5518468618392944},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5309329032897949},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.4429852068424225},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.33560407161712646},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3313916325569153},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24064892530441284},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2396785318851471},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.167646586894989}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.8000781536102295},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5518468618392944},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5309329032897949},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.4429852068424225},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.33560407161712646},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3313916325569153},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24064892530441284},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2396785318851471},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.167646586894989}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2003.1250733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250733","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1562327279","https://openalex.org/W1590684588","https://openalex.org/W1998913679","https://openalex.org/W2013923153","https://openalex.org/W2085533641","https://openalex.org/W2089267221","https://openalex.org/W2121678687","https://openalex.org/W2134742377","https://openalex.org/W2140933031","https://openalex.org/W4245504435","https://openalex.org/W6635423901","https://openalex.org/W6992347331"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W2324615561","https://openalex.org/W1999583034","https://openalex.org/W2086120259","https://openalex.org/W3217214504","https://openalex.org/W2245170124","https://openalex.org/W2076393078","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W2773822314"],"abstract_inverted_index":{"During":[0],"the":[1,4,10,15,73,120,149],"last":[2],"decade,":[3],"first":[5],"autonomous":[6],"underwater":[7,141],"robot":[8],"of":[9,14,17,30,148,151],"Autonomous":[11],"Systems":[12],"Laboratory":[13],"University":[16],"Hawaii,":[18],"ODIN":[19,68],"(Omni-Directional":[20],"Intelligent":[21],"Navigator)":[22],"built":[23],"in":[24,33,72],"1991":[25],"has":[26],"produced":[27],"a":[28,89,103,113],"lot":[29],"valuable":[31],"results":[32,157],"development":[34,150],"and":[35,100,107,153],"control":[36],"methods":[37],"[(S.K.":[38],"Choi":[39,51],"et":[40,46,52,58,64],"al.,":[41,47,53,59,65],"July":[42],"1994),":[43],"(Choi,":[44],"S.K.":[45],"March":[48],"1995),":[49],"(S.K.":[50],"April":[54],"1996),":[55],"(Yang,":[56],"K.C.":[57],"September":[60],"1999),":[61],"(J.":[62],"Yuh":[63],"2000)].":[66],"Recently,":[67],"was":[69],"born":[70],"again":[71],"3rd":[74],"generation":[75],"with":[76,96],"unique":[77],"features":[78],"under":[79],"recent":[80],"technologies":[81],"such":[82],"as":[83],"abundant":[84],"system":[85,93],"resources":[86],"owing":[87],"to":[88],"PC104+,":[90],"new":[91],"vehicle":[92],"software":[94],"architectures":[95],"an":[97,108,127,139],"object-oriented":[98],"concept":[99],"its":[101],"implementation,":[102],"graphical":[104],"user":[105],"interface":[106],"independent":[109],"algorithm":[110],"module":[111],"using":[112],"dynamic":[114],"linking":[115],"library":[116],"(DLL)":[117],"based":[118],"on":[119],"Windows":[121],"operating":[122],"system.":[123],"These":[124],"give":[125],"us":[126],"ideal":[128],"environment":[129],"for":[130,137,158],"developing":[131,138],"various":[132],"algorithms":[133],"which":[134],"are":[135],"needed":[136],"advanced":[140],"robotic":[142],"vehicle.":[143],"This":[144],"paper":[145],"describes":[146],"details":[147],"ODIN-III":[152],"presents":[154],"initial":[155],"experimental":[156],"fine":[159],"motion":[160],"control.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
