{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,8]],"date-time":"2026-09-08T16:08:37Z","timestamp":1788883717413,"version":"build-2803163510"},"reference-count":49,"publisher":"Wiley","issue":"7","license":[{"start":{"date-parts":[[2026,5,18]],"date-time":"2026-05-18T00:00:00Z","timestamp":1779062400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2026,5,18]],"date-time":"2026-05-18T00:00:00Z","timestamp":1779062400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Field Robotics"],"published-print":{"date-parts":[[2026,10]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>High\u2010fidelity models play an essential role in advancing the structural optimization and motion simulation of amphibious vehicles. However, the complexity of hydrodynamics poses significant challenges in dynamic modeling, parameter identification, and experimental validation. To address these challenges, this research derives a six\u2010degree\u2010of\u2010freedom dynamic model for a vector propelled amphibious vehicle based on maneuvering theory, including a dedicated propulsion system dynamic model. Given the system identification challenges posed by the highly coupled multi\u2010parameter dynamics, a systematic experimental framework is devised, featuring decoupled measurements of the propulsion and maneuvering dynamics. A staged parameter identification methodology integrating the genetic algorithm and the least squares method is proposed. The methodology initially identifies a subset of parameters through decoupled reduced\u2010order models, and subsequently performs a systematic identification of the remaining parameters based on the complete coupled model. For model validation, a simulation platform based on numerical integration methods is developed, with real\u2010time visualization implemented in Unreal Engine 4 (UE4). Field tests and hardware\u2010in\u2010the\u2010loop (HIL) validation demonstrate that the established model with identified parameters can accurately capture the motion characteristics of the amphibious vehicle.<\/jats:p>","DOI":"10.1002\/rob.70238","type":"journal-article","created":{"date-parts":[[2026,5,18]],"date-time":"2026-05-18T08:55:26Z","timestamp":1779094526000},"page":"4281-4307","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Modeling, Identification, and Validation of a Vector Propelled Amphibious Vehicle"],"prefix":"10.1002","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0009-0007-7510-4882","authenticated-orcid":false,"given":"Ye","family":"Wang","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering Beijing Institute of Technology Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sihuan","family":"Feng","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering Beijing Institute of Technology Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lingbo","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering Beijing Institute of Technology Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiaqi","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering Beijing Institute of Technology Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Huilong","family":"Yu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering Beijing Institute of Technology Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junqiang","family":"Xi","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering Beijing Institute of Technology Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,5,18]]},"reference":[{"key":"e_1_2_8_2_1","unstructured":"Abkowitz M. 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