Frontiers Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots

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Figure 8 from Locomotion efficiency of underwater snake robots with thrusters

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Upgraded trajectory planning method deployed in autonomous exploration for unmanned aerial vehicle - Tong Zhang, Jiajie Yu, Jiaqi Li, Jianli Wei, 2022

Uncertain moving obstacles avoiding method in 3D arbitrary path planning for a spherical underwater robot - ScienceDirect