{"id":"https://openalex.org/W1979796672","doi":"https://doi.org/10.1109/iros.2005.1545572","title":"A repetitive periodic motion planning of articulated underwater robots subject to drag optimization","display_name":"A repetitive periodic motion planning of articulated underwater robots subject to drag optimization","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W1979796672","doi":"https://doi.org/10.1109/iros.2005.1545572","mag":"1979796672"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2005.1545572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545572","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5087265927","display_name":"Bong-Huan Jun","orcid":"https://orcid.org/0000-0002-4629-4433"},"institutions":[{"id":"https://openalex.org/I133437993","display_name":"Korea Institute of Ocean Science and Technology","ror":"https://ror.org/032m55064","country_code":"KR","type":"facility","lineage":["https://openalex.org/I133437993"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Bong-Huan Jun","raw_affiliation_strings":["Ocean Develop. System Division, KRISO Korea Ocean Research and Development Institute, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ocean Develop. System Division, KRISO Korea Ocean Research and Development Institute, Daejeon, South Korea","institution_ids":["https://openalex.org/I133437993"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003383414","display_name":"Jihong Lee","orcid":"https://orcid.org/0000-0002-7889-4935"},"institutions":[{"id":"https://openalex.org/I196345858","display_name":"Chungnam National University","ror":"https://ror.org/0227as991","country_code":"KR","type":"education","lineage":["https://openalex.org/I196345858"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jihong Lee","raw_affiliation_strings":["Department of Mechatronics Engineering, Chungnam National University, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, Chungnam National University, South Korea","institution_ids":["https://openalex.org/I196345858"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021881492","display_name":"Pan-Mook Lee","orcid":"https://orcid.org/0000-0002-0500-6167"},"institutions":[{"id":"https://openalex.org/I133437993","display_name":"Korea Institute of Ocean Science and Technology","ror":"https://ror.org/032m55064","country_code":"KR","type":"facility","lineage":["https://openalex.org/I133437993"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Pan-Mook Lee","raw_affiliation_strings":["Ocean Develop. System Division, KRISO Korea Ocean Research and Development Institute, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ocean Develop. System Division, KRISO Korea Ocean Research and Development Institute, Daejeon, South Korea","institution_ids":["https://openalex.org/I133437993"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.10517907,"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":"1917","last_page":"1922"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9990000128746033,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.996399998664856,"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/drag","display_name":"Drag","score":0.8283936977386475},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.624935507774353},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5961920619010925},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.550692081451416},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5468789935112},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5158218741416931},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5021133422851562},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4345901906490326},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3526087999343872},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24708044528961182},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23552575707435608},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20604345202445984},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09414970874786377},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07251140475273132}],"concepts":[{"id":"https://openalex.org/C72921944","wikidata":"https://www.wikidata.org/wiki/Q206621","display_name":"Drag","level":2,"score":0.8283936977386475},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.624935507774353},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5961920619010925},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.550692081451416},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5468789935112},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5158218741416931},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5021133422851562},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4345901906490326},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3526087999343872},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24708044528961182},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23552575707435608},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20604345202445984},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09414970874786377},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07251140475273132},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2005.1545572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545572","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1590684588","https://openalex.org/W1977174110","https://openalex.org/W2021041239","https://openalex.org/W2052863090","https://openalex.org/W2096722024","https://openalex.org/W2101474901","https://openalex.org/W2121273772","https://openalex.org/W2125139398","https://openalex.org/W2131408804","https://openalex.org/W2136415620","https://openalex.org/W2137805778","https://openalex.org/W4285719527","https://openalex.org/W6678453807"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2170661558","https://openalex.org/W2999143598","https://openalex.org/W2593985399"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,21,47,80,93],"utilize":[3],"hydrodynamic":[4],"drag":[5,22,55,67],"force":[6,68],"on":[7],"articulated":[8],"robot":[9,117],"moving":[10],"in":[11,59,69,120],"an":[12],"underwater":[13],"environment,":[14],"a":[15,28,84],"repetitive":[16],"motion":[17,110],"planning":[18,38,111],"method":[19,39],"subject":[20],"optimization":[23],"is":[24,57,72,75,91],"proposed.":[25],"Repetitive":[26],"trajectories,":[27],"preplanned":[29],"periodic":[30,109],"motion,":[31],"are":[32,118],"obtained":[33],"from":[34],"general":[35],"polynomial":[36],"trajectory":[37,46],"by":[40,50],"connecting":[41],"the":[42,98,104],"end":[43],"point":[44,49],"of":[45,61,100,106,113],"start":[48],"enforcing":[51],"continuous":[52],"motion.":[53],"After":[54],"torque":[56],"described":[58],"terms":[60],"joint":[62],"angles":[63],"and":[64],"velocities,":[65],"directional":[66],"task":[70],"space":[71],"derived,":[73],"which":[74],"used":[76],"as":[77],"objective":[78],"function":[79],"be":[81],"optimized":[82],"during":[83],"time":[85],"period.":[86],"The":[87],"genetic":[88],"algorithm":[89],"(GA)":[90],"adopted":[92],"find":[94],"optimal":[95],"parameters":[96],"composing":[97],"coefficients":[99],"polynomials.":[101],"To":[102],"verify":[103],"correctness":[105],"proposed":[107],"method,":[108],"examples":[112],"simple":[114],"two-link":[115],"planner":[116],"presented":[119],"this":[121],"paper.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
