{"id":"https://openalex.org/W1980211310","doi":"https://doi.org/10.1109/robio.2014.7090419","title":"Null-space-based behavior guidance of planar dual-arm UVMS","display_name":"Null-space-based behavior guidance of planar dual-arm UVMS","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W1980211310","doi":"https://doi.org/10.1109/robio.2014.7090419","mag":"1980211310"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2014.7090419","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090419","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","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/A5026424052","display_name":"Signe Moe","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":"Signe Moe","raw_affiliation_strings":["Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway","Center for Autonomous Marine Operations and Systems (AMOS), at The Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]},{"raw_affiliation_string":"Center for Autonomous Marine Operations and Systems (AMOS), at The Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030334035","display_name":"Gianluca Antonelli","orcid":"https://orcid.org/0000-0002-5511-0165"},"institutions":[{"id":"https://openalex.org/I186995768","display_name":"Universit\u00e0 degli studi di Cassino e del Lazio Meridionale","ror":"https://ror.org/04nxkaq16","country_code":"IT","type":"education","lineage":["https://openalex.org/I186995768"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianluca Antonelli","raw_affiliation_strings":["Department of Electrical and Information Engineering, University of Cassino and Southern Lazio, Cassino, Italy","[Dept. of Electrical and Information Engineering, University of Cassino and Southern Lazio, Cassino, Italy]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Engineering, University of Cassino and Southern Lazio, Cassino, Italy","institution_ids":["https://openalex.org/I186995768"]},{"raw_affiliation_string":"[Dept. of Electrical and Information Engineering, University of Cassino and Southern Lazio, Cassino, Italy]","institution_ids":["https://openalex.org/I186995768"]}]},{"author_position":"last","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":"Kristin Y. Pettersen","raw_affiliation_strings":["Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway","Center for Autonomous Marine Operations and Systems (AMOS), at The Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]},{"raw_affiliation_string":"Center for Autonomous Marine Operations and Systems (AMOS), at The Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5026424052"],"corresponding_institution_ids":["https://openalex.org/I204778367"],"apc_list":null,"apc_paid":null,"fwci":1.5025,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.82687125,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"735","last_page":"740"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9988999962806702,"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":0.9988999962806702,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.7203084826469421},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.6738691926002502},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5659939050674438},{"id":"https://openalex.org/keywords/null","display_name":"Null (SQL)","score":0.562003493309021},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5423768758773804},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5126017928123474},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.510475754737854},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4982583522796631},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.48619455099105835},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4805903434753418},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.44184282422065735},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4258819818496704},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.42083480954170227},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2488991618156433},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24221262335777283},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2373538613319397},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20687416195869446},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09490153193473816}],"concepts":[{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.7203084826469421},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.6738691926002502},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5659939050674438},{"id":"https://openalex.org/C203763787","wikidata":"https://www.wikidata.org/wiki/Q371029","display_name":"Null (SQL)","level":2,"score":0.562003493309021},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5423768758773804},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5126017928123474},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.510475754737854},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4982583522796631},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.48619455099105835},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4805903434753418},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.44184282422065735},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4258819818496704},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.42083480954170227},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2488991618156433},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24221262335777283},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2373538613319397},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20687416195869446},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09490153193473816},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2014.7090419","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090419","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","raw_type":"proceedings-article"},{"id":"pmh:oai:brage.bibsys.no:11250/2374487","is_oa":false,"landing_page_url":"http://hdl.handle.net/11250/2374487","pdf_url":null,"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":"735-740","raw_type":"Chapter"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.7799999713897705}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323299","display_name":"Norges Forskningsr\u00e5d","ror":"https://ror.org/00epmv149"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W103498891","https://openalex.org/W1484426730","https://openalex.org/W1509235676","https://openalex.org/W1538672858","https://openalex.org/W1905188325","https://openalex.org/W1993131361","https://openalex.org/W2001113646","https://openalex.org/W2049410986","https://openalex.org/W2050271375","https://openalex.org/W2058822061","https://openalex.org/W2106129306","https://openalex.org/W2106296284","https://openalex.org/W2112474089","https://openalex.org/W2119312651","https://openalex.org/W2127901271","https://openalex.org/W2128923571","https://openalex.org/W2129644801","https://openalex.org/W2155058919","https://openalex.org/W2163443011","https://openalex.org/W2166683343","https://openalex.org/W2168555671","https://openalex.org/W2945233516","https://openalex.org/W4236708315","https://openalex.org/W6628894934","https://openalex.org/W6683962462","https://openalex.org/W6762318455"],"related_works":["https://openalex.org/W1667647204","https://openalex.org/W2404647514","https://openalex.org/W4247536566","https://openalex.org/W4241418540","https://openalex.org/W2018477250","https://openalex.org/W3119814709","https://openalex.org/W1508895727","https://openalex.org/W2725786787","https://openalex.org/W1875930651","https://openalex.org/W1590965489"],"abstract_inverted_index":{"Dual-arm":[0],"Underwater":[1],"Vehicle-Manipulator":[2],"Systems":[3],"are":[4,14,74],"able":[5],"perform":[6],"a":[7,27,36,48,56,92,99],"variety":[8],"of":[9,62,102,109],"interventions":[10],"tasks,":[11,69],"and":[12,43,51,70,81,96],"there":[13],"still":[15],"many":[16],"challenges":[17],"related":[18],"to":[19],"making":[20],"such":[21,35],"vehicles":[22],"autonomous.":[23],"This":[24],"paper":[25],"presents":[26],"guidance":[28],"method":[29,87],"for":[30,34,91,98],"generating":[31],"reference":[32,72],"trajectories":[33,73],"system":[37,64],"by":[38],"considering":[39],"the":[40,44,52,63,71,82,107,110],"main":[41],"manipulator":[42,54],"vehicle":[45],"base":[46],"as":[47,55,67],"leader":[49],"unit":[50],"secondary":[53],"follower":[57],"unit.":[58],"The":[59,85],"desired":[60],"behavior":[61],"is":[65],"expressed":[66],"different":[68],"calculated":[75],"using":[76],"pseudo-inverse":[77],"Jacobian":[78],"task":[79],"matrices":[80],"null-space-based":[83],"method.":[84,112],"proposed":[86,111],"has":[88],"been":[89],"implemented":[90],"particular":[93],"planar":[94],"UVMS":[95],"simulated":[97],"defined":[100],"set":[101],"tasks.":[103],"Simulation":[104],"results":[105],"confirm":[106],"correctness":[108]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
