{"id":"https://openalex.org/W2785628697","doi":"https://doi.org/10.1109/robio.2017.8324582","title":"Set-based path following and obstacle avoidance for underwater snake robots","display_name":"Set-based path following and obstacle avoidance for underwater snake robots","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2785628697","doi":"https://doi.org/10.1109/robio.2017.8324582","mag":"2785628697"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2017.8324582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324582","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11250/2481515","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036512781","display_name":"A. M. Kohl","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157915","display_name":"Autonomous Undersea Systems Institute","ror":"https://ror.org/04veekh32","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210157915"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. M. Kohl","raw_affiliation_strings":["Dep. of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems (NTNU-AMOS)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dep. of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems (NTNU-AMOS)","institution_ids":["https://openalex.org/I4210157915"]}]},{"author_position":"middle","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":false,"raw_author_name":"S. Moe","raw_affiliation_strings":["Dep. of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dep. of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024657122","display_name":"Eleni Kelasidi","orcid":"https://orcid.org/0000-0003-4768-2937"},"institutions":[{"id":"https://openalex.org/I4210157915","display_name":"Autonomous Undersea Systems Institute","ror":"https://ror.org/04veekh32","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210157915"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E. Kelasidi","raw_affiliation_strings":["Dep. of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems (NTNU-AMOS)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dep. of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems (NTNU-AMOS)","institution_ids":["https://openalex.org/I4210157915"]}]},{"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/I4210157915","display_name":"Autonomous Undersea Systems Institute","ror":"https://ror.org/04veekh32","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210157915"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K. Y. Pettersen","raw_affiliation_strings":["Dep. of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems (NTNU-AMOS)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dep. of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems (NTNU-AMOS)","institution_ids":["https://openalex.org/I4210157915"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034485872","display_name":"Jan Tommy Gravdahl","orcid":"https://orcid.org/0000-0002-5663-0795"},"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":"J. T. Gravdahl","raw_affiliation_strings":["Dep. of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dep. of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2388,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.63706609,"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":"1206","last_page":"1213"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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":0.9937999844551086,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7716536521911621},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7091306447982788},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6963125467300415},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6800045371055603},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6399843692779541},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6072344779968262},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5876854658126831},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5655065774917603},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5600820779800415},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5212332010269165},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5173065662384033},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4726359248161316},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44919466972351074},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44058912992477417},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3319558799266815},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.322078138589859},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30796197056770325},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2709997296333313},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22976380586624146},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.20120647549629211},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15792685747146606}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7716536521911621},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7091306447982788},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6963125467300415},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6800045371055603},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6399843692779541},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6072344779968262},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5876854658126831},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5655065774917603},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5600820779800415},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5212332010269165},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5173065662384033},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4726359248161316},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44919466972351074},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44058912992477417},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3319558799266815},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.322078138589859},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30796197056770325},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2709997296333313},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22976380586624146},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.20120647549629211},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15792685747146606},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2017.8324582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324582","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:brage.bibsys.no:11250/2481515","is_oa":true,"landing_page_url":"http://hdl.handle.net/11250/2481515","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/bookPart"}],"best_oa_location":{"id":"pmh:oai:brage.bibsys.no:11250/2481515","is_oa":true,"landing_page_url":"http://hdl.handle.net/11250/2481515","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/bookPart"},"sustainable_development_goals":[{"score":0.8399999737739563,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1576442223","https://openalex.org/W1964941426","https://openalex.org/W1998273165","https://openalex.org/W2013385611","https://openalex.org/W2031129632","https://openalex.org/W2052888122","https://openalex.org/W2054091565","https://openalex.org/W2107776472","https://openalex.org/W2116625481","https://openalex.org/W2126621973","https://openalex.org/W2155700642","https://openalex.org/W2204970869","https://openalex.org/W2289145081","https://openalex.org/W2294829212","https://openalex.org/W2295731450","https://openalex.org/W2337286925","https://openalex.org/W2341842997","https://openalex.org/W2513959337","https://openalex.org/W2547032273","https://openalex.org/W2553360740","https://openalex.org/W2588041659","https://openalex.org/W2608366213","https://openalex.org/W4250574232","https://openalex.org/W4310845713","https://openalex.org/W6726381289"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,31,42,50,58,79,95],"set-based":[4,106],"guidance":[5,22,85,107],"strategy":[6,59],"for":[7,13,63,78,109],"path":[8,33],"following":[9,41],"with":[10],"obstacle":[11],"avoidance":[12],"underwater":[14],"snake":[15],"robots":[16],"conducting":[17],"planar":[18],"sinusoidal":[19],"motion.":[20],"The":[21,84],"scheme":[23,108],"is":[24,87],"designed":[25],"such":[26],"that":[27,60,103],"the":[28,38,68,73,91,105,110],"robot":[29],"follows":[30],"straight":[32],"and":[34,75],"avoids":[35],"obstacles":[36],"on":[37],"way":[39],"by":[40,66],"circle":[43],"around":[44],"them.":[45],"In":[46],"order":[47],"to":[48,89],"enable":[49],"switching":[51,69],"between":[52],"these":[53],"two":[54],"tasks,":[55],"we":[56],"generalize":[57],"was":[61],"introduced":[62],"surface":[64],"vessels,":[65],"making":[67],"condition":[70],"independent":[71],"of":[72,82],"dynamics":[74],"thus":[76],"applicable":[77],"larger":[80],"class":[81],"systems.":[83],"system":[86],"shown":[88],"fulfill":[90],"control":[92],"objectives":[93],"at":[94],"kinematic":[96],"level.":[97],"We":[98],"present":[99],"new":[100],"test":[101],"results":[102],"validate":[104],"first":[111],"time":[112],"experimentally.":[113]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
