{"id":"https://openalex.org/W2511586022","doi":"https://doi.org/10.1109/med.2016.7535893","title":"Waypoint guidance control for underwater snake robots exposed to ocean currents","display_name":"Waypoint guidance control for underwater snake robots exposed to ocean currents","publication_year":2016,"publication_date":"2016-06-01","ids":{"openalex":"https://openalex.org/W2511586022","doi":"https://doi.org/10.1109/med.2016.7535893","mag":"2511586022"},"language":"en","primary_location":{"id":"doi:10.1109/med.2016.7535893","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2016.7535893","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 24th Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://ntnuopen.ntnu.no/ntnu-xmlui/bitstream/11250/2420399/3/KelasidiMED2016Final96514.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024657122","display_name":"Eleni Kelasidi","orcid":"https://orcid.org/0000-0003-4768-2937"},"institutions":[{"id":"https://openalex.org/I3019502701","display_name":"SINTEF Ocean","ror":"https://ror.org/004wre089","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879","https://openalex.org/I3019502701"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"E. Kelasidi","raw_affiliation_strings":["Dept. of Engineering Cybernetics at NTNU, Centre for Autonomous Marine Operations and Systems, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Engineering Cybernetics at NTNU, Centre for Autonomous Marine Operations and Systems, Trondheim, Norway","institution_ids":["https://openalex.org/I3019502701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036512781","display_name":"A. M. Kohl","orcid":null},"institutions":[{"id":"https://openalex.org/I3019502701","display_name":"SINTEF Ocean","ror":"https://ror.org/004wre089","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879","https://openalex.org/I3019502701"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"A. M. Kohl","raw_affiliation_strings":["Dept. of Engineering Cybernetics at NTNU, Centre for Autonomous Marine Operations and Systems, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Engineering Cybernetics at NTNU, Centre for Autonomous Marine Operations and Systems, Trondheim, Norway","institution_ids":["https://openalex.org/I3019502701"]}]},{"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/I3019502701","display_name":"SINTEF Ocean","ror":"https://ror.org/004wre089","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879","https://openalex.org/I3019502701"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"K. Y. Pettersen","raw_affiliation_strings":["Dept. of Engineering Cybernetics at NTNU, Centre for Autonomous Marine Operations and Systems, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Engineering Cybernetics at NTNU, Centre for Autonomous Marine Operations and Systems, Trondheim, Norway","institution_ids":["https://openalex.org/I3019502701"]}]},{"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":["Dept. of Engineering Cybernetics at NTNU, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Engineering Cybernetics at NTNU, Trondheim, Norway","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5508,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.5640581,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"518","last_page":"525"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9990000128746033,"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"}},"topics":[{"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/T10868","display_name":"Soft Robotics and Applications","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9908000230789185,"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/waypoint","display_name":"Waypoint","score":0.9869753122329712},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6755867600440979},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6261810660362244},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5830603241920471},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5668134689331055},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5291391015052795},{"id":"https://openalex.org/keywords/conservative-vector-field","display_name":"Conservative vector field","score":0.48739510774612427},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4601583480834961},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4328283369541168},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.4313221871852875},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3576922118663788},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3510292172431946},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32494938373565674},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.20548439025878906},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.1861344873905182},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14849531650543213},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.14453503489494324},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.08103984594345093}],"concepts":[{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.9869753122329712},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6755867600440979},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6261810660362244},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5830603241920471},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5668134689331055},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5291391015052795},{"id":"https://openalex.org/C147457402","wikidata":"https://www.wikidata.org/wiki/Q1588205","display_name":"Conservative vector field","level":3,"score":0.48739510774612427},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4601583480834961},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4328283369541168},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.4313221871852875},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3576922118663788},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3510292172431946},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32494938373565674},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.20548439025878906},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.1861344873905182},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14849531650543213},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.14453503489494324},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.08103984594345093},{"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/med.2016.7535893","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2016.7535893","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 24th Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"},{"id":"pmh:oai:brage.bibsys.no:11250/2420399","is_oa":true,"landing_page_url":"http://hdl.handle.net/11250/2420399","pdf_url":"https://ntnuopen.ntnu.no/ntnu-xmlui/bitstream/11250/2420399/3/KelasidiMED2016Final96514.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":"","raw_type":"Conference object"}],"best_oa_location":{"id":"pmh:oai:brage.bibsys.no:11250/2420399","is_oa":true,"landing_page_url":"http://hdl.handle.net/11250/2420399","pdf_url":"https://ntnuopen.ntnu.no/ntnu-xmlui/bitstream/11250/2420399/3/KelasidiMED2016Final96514.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":"","raw_type":"Conference object"},"sustainable_development_goals":[{"display_name":"Life below water","score":0.8700000047683716,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2511586022.pdf","grobid_xml":"https://content.openalex.org/works/W2511586022.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1628288941","https://openalex.org/W1961413356","https://openalex.org/W1967218403","https://openalex.org/W2010085093","https://openalex.org/W2017533233","https://openalex.org/W2031129632","https://openalex.org/W2038599799","https://openalex.org/W2040316861","https://openalex.org/W2044574818","https://openalex.org/W2054091565","https://openalex.org/W2056659978","https://openalex.org/W2094460003","https://openalex.org/W2107388336","https://openalex.org/W2116714372","https://openalex.org/W2120308855","https://openalex.org/W2126621973","https://openalex.org/W2127940313","https://openalex.org/W2137231733","https://openalex.org/W2289145081","https://openalex.org/W2295731450","https://openalex.org/W2492811885","https://openalex.org/W2585005151","https://openalex.org/W3026829485","https://openalex.org/W3193680531","https://openalex.org/W4240215908","https://openalex.org/W6678878438","https://openalex.org/W6680532750","https://openalex.org/W6732661343","https://openalex.org/W6799996692"],"related_works":["https://openalex.org/W2863424594","https://openalex.org/W3032985159","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W4292862729","https://openalex.org/W2150982344"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,42],"waypoint":[4,29],"guidance":[5,30,101],"strategy":[6],"for":[7,46,89],"underwater":[8,34],"snake":[9,35],"robots,":[10],"which":[11,76],"is":[12,70,77],"an":[13,33],"extension":[14],"of":[15,68,99],"the":[16,25,73,97,100],"straight":[17,85],"line":[18],"path":[19,44,75],"following":[20],"controllers":[21],"previously":[22],"proposed":[23,28],"by":[24,80,84],"authors.":[26],"The":[27,53],"control":[31],"enables":[32],"robot":[36],"to":[37,49],"converge":[38],"towards":[39],"and":[40,58,60,64,93],"follow":[41],"desired":[43,74],"compensating":[45],"disturbances":[47],"due":[48],"ocean":[50,54],"currents":[51,55],"effects.":[52],"are":[56],"constant":[57],"irrotational,":[59],"with":[61],"unknown":[62],"magnitude":[63],"direction.":[65],"A":[66],"set":[67],"waypoints":[69,83],"chosen":[71],"along":[72],"then":[78],"defined":[79],"interconnecting":[81],"these":[82],"lines.":[86],"Simulation":[87],"results":[88],"both":[90],"lateral":[91],"undulation":[92],"eel-like":[94],"motion":[95],"illustrate":[96],"performance":[98],"strategy.":[102]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}
