{"id":"https://openalex.org/W2017558317","doi":"https://doi.org/10.2478/pjbr-2013-0015","title":"Smart-E An Autonomous Omnidirectional Underwater Robot","display_name":"Smart-E An Autonomous Omnidirectional Underwater Robot","publication_year":2013,"publication_date":"2013-01-27","ids":{"openalex":"https://openalex.org/W2017558317","doi":"https://doi.org/10.2478/pjbr-2013-0015","mag":"2017558317"},"language":"en","primary_location":{"id":"doi:10.2478/pjbr-2013-0015","is_oa":true,"landing_page_url":"https://doi.org/10.2478/pjbr-2013-0015","pdf_url":"https://www.degruyter.com/document/doi/10.2478/pjbr-2013-0015/pdf","source":{"id":"https://openalex.org/S4210226531","display_name":"Paladyn Journal of Behavioral Robotics","issn_l":"2080-9778","issn":["2080-9778","2081-4836"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Paladyn, Journal of Behavioral Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.degruyter.com/document/doi/10.2478/pjbr-2013-0015/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103240721","display_name":"Benjamin Meyer","orcid":"https://orcid.org/0000-0001-6629-8397"},"institutions":[{"id":"https://openalex.org/I9341345","display_name":"University of L\u00fcbeck","ror":"https://ror.org/00t3r8h32","country_code":"DE","type":"education","lineage":["https://openalex.org/I9341345"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Benjamin Meyer","raw_affiliation_strings":["University of Luebeck, Inst. of Computer Engineering Ratzeburger Allee 160, 23562 Luebeck, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Luebeck, Inst. of Computer Engineering Ratzeburger Allee 160, 23562 Luebeck, Germany","institution_ids":["https://openalex.org/I9341345"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013091058","display_name":"Kristian Ehlers","orcid":null},"institutions":[{"id":"https://openalex.org/I9341345","display_name":"University of L\u00fcbeck","ror":"https://ror.org/00t3r8h32","country_code":"DE","type":"education","lineage":["https://openalex.org/I9341345"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kristian Ehlers","raw_affiliation_strings":["University of Luebeck, Inst. of Computer Engineering Ratzeburger Allee 160, 23562 Luebeck, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Luebeck, Inst. of Computer Engineering Ratzeburger Allee 160, 23562 Luebeck, Germany","institution_ids":["https://openalex.org/I9341345"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054397254","display_name":"Christoph Osterloh","orcid":null},"institutions":[{"id":"https://openalex.org/I9341345","display_name":"University of L\u00fcbeck","ror":"https://ror.org/00t3r8h32","country_code":"DE","type":"education","lineage":["https://openalex.org/I9341345"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Osterloh","raw_affiliation_strings":["University of Luebeck, Inst. of Computer Engineering Ratzeburger Allee 160, 23562 Luebeck, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Luebeck, Inst. of Computer Engineering Ratzeburger Allee 160, 23562 Luebeck, Germany","institution_ids":["https://openalex.org/I9341345"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047630768","display_name":"Erik Maehle","orcid":null},"institutions":[{"id":"https://openalex.org/I9341345","display_name":"University of L\u00fcbeck","ror":"https://ror.org/00t3r8h32","country_code":"DE","type":"education","lineage":["https://openalex.org/I9341345"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Erik Maehle","raw_affiliation_strings":["University of Luebeck, Inst. of Computer Engineering Ratzeburger Allee 160, 23562 Luebeck, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Luebeck, Inst. of Computer Engineering Ratzeburger Allee 160, 23562 Luebeck, Germany","institution_ids":["https://openalex.org/I9341345"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5103240721"],"corresponding_institution_ids":["https://openalex.org/I9341345"],"apc_list":{"value":1000,"currency":"EUR","value_usd":1078},"apc_paid":{"value":1000,"currency":"EUR","value_usd":1078},"fwci":1.176,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.80333689,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"4","issue":"4","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9984999895095825,"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":0.9984999895095825,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9681000113487244,"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/T12697","display_name":"Water Quality Monitoring Technologies","score":0.9546999931335449,"subfield":{"id":"https://openalex.org/subfields/2312","display_name":"Water Science and Technology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.8163284659385681},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7596811652183533},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6361542344093323},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5849173069000244},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.5078116059303284},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.4482540786266327},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4106655716896057},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35510697960853577},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3239392042160034},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.32021045684814453},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2803990840911865},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2781223654747009},{"id":"https://openalex.org/keywords/antenna","display_name":"Antenna (radio)","score":0.11078199744224548},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.107887864112854},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09131073951721191},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09049835801124573}],"concepts":[{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.8163284659385681},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7596811652183533},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6361542344093323},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5849173069000244},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.5078116059303284},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.4482540786266327},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4106655716896057},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35510697960853577},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3239392042160034},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.32021045684814453},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2803990840911865},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2781223654747009},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.11078199744224548},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.107887864112854},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09131073951721191},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09049835801124573},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.2478/pjbr-2013-0015","is_oa":true,"landing_page_url":"https://doi.org/10.2478/pjbr-2013-0015","pdf_url":"https://www.degruyter.com/document/doi/10.2478/pjbr-2013-0015/pdf","source":{"id":"https://openalex.org/S4210226531","display_name":"Paladyn Journal of Behavioral Robotics","issn_l":"2080-9778","issn":["2080-9778","2081-4836"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Paladyn, Journal of Behavioral Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:1b920043149d488eab0093200d827078","is_oa":true,"landing_page_url":"https://doaj.org/article/1b920043149d488eab0093200d827078","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Paladyn, Vol 4, Iss 4, Pp 204-210 (2013)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.2478/pjbr-2013-0015","is_oa":true,"landing_page_url":"https://doi.org/10.2478/pjbr-2013-0015","pdf_url":"https://www.degruyter.com/document/doi/10.2478/pjbr-2013-0015/pdf","source":{"id":"https://openalex.org/S4210226531","display_name":"Paladyn Journal of Behavioral Robotics","issn_l":"2080-9778","issn":["2080-9778","2081-4836"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Paladyn, Journal of Behavioral Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8299999833106995,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2017558317.pdf","grobid_xml":"https://content.openalex.org/works/W2017558317.grobid-xml"},"referenced_works_count":5,"referenced_works":["https://openalex.org/W1880519044","https://openalex.org/W2020648810","https://openalex.org/W2125097724","https://openalex.org/W2145287296","https://openalex.org/W6601226615"],"related_works":["https://openalex.org/W3199220297","https://openalex.org/W2093540596","https://openalex.org/W2137769200","https://openalex.org/W2032962400","https://openalex.org/W2952608638","https://openalex.org/W1973180395","https://openalex.org/W2091018038","https://openalex.org/W2911323905","https://openalex.org/W2350761455","https://openalex.org/W2505159293"],"abstract_inverted_index":{"Abstract":[0],"The":[1,59],"survey":[2],"of":[3,51,54,57,67,98,107,110,153],"waterbodies":[4],"or":[5],"underwater":[6,163],"installations":[7],"is":[8,41,61,114,147],"a":[9,27,99,105,120,125,133,158],"challenging":[10],"task.":[11],"To":[12,78],"reduce":[13],"the":[14,49,55,64,83,96,138,141,144,154],"danger":[15],"for":[16],"divers,":[17],"Autonomous":[18],"Underwater":[19],"Vehicles":[20],"(AUVs)":[21],"can":[22],"be":[23],"deployed.":[24],"These":[25],"requires":[26],"high":[28],"manoeuvrability":[29,106],"and":[30,46,122,132,160],"agility":[31],"in":[32,37,82,166],"order":[33],"to":[34,75,104,148,156],"provide":[35],"access":[36],"hard-to-reach":[38],"areas.":[39],"Smart-E":[40,113],"an":[42,129],"omnidirectional":[43,80,162],"AUV":[44,155],"designed":[45],"developed":[47],"at":[48,73,137],"Institute":[50],"Computer":[52],"Engineering":[53],"University":[56],"Luebeck.":[58],"drive":[60],"realized":[62],"by":[63],"minimal":[65],"configuration":[66],"three":[68],"thrusters":[69],"that":[70],"are":[71],"arranged":[72],"120\u00ba":[74],"each":[76,86],"other.":[77],"achieve":[79,157],"movement":[81,164],"3D":[84],"space,":[85],"motor":[87],"pivots":[88],"through":[89],"180\u00ba":[90],"around":[91],"its":[92],"radial":[93],"axis":[94],"with":[95,116],"aid":[97],"servo":[100],"motor.":[101],"This":[102],"leads":[103],"six":[108,151],"degrees":[109],"freedom":[111],"(DOF).":[112],"equipped":[115],"various":[117],"sensors":[118],"like":[119],"pressure":[121],"temperature":[123],"sensor,":[124],"360\u00ba":[126],"scanning":[127],"sonar,":[128],"IMU-AHRS":[130],"system":[131],"tilt":[134],"camera":[135],"unit":[136],"bottom.":[139],"Besides":[140],"autonomous":[142],"behaviors,":[143],"main":[145],"challenge":[146],"control":[149],"all":[150],"DOF":[152],"smooth":[159],"controllable":[161],"even":[165],"rough":[167],"environments.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}