{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,13]],"date-time":"2026-04-13T20:03:22Z","timestamp":1776110602531,"version":"3.50.1"},"reference-count":31,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2016,11,5]],"date-time":"2016-11-05T00:00:00Z","timestamp":1478304000000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Artif Life Robotics"],"published-print":{"date-parts":[[2016,12]]},"DOI":"10.1007\/s10015-016-0332-3","type":"journal-article","created":{"date-parts":[[2016,11,5]],"date-time":"2016-11-05T00:32:50Z","timestamp":1478305970000},"page":"411-422","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":19,"title":["Multi-objective optimization for efficient motion of underwater snake robots"],"prefix":"10.1007","volume":"21","author":[{"given":"E.","family":"Kelasidi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Jesmani","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"K. Y.","family":"Pettersen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J. T.","family":"Gravdahl","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2016,11,5]]},"reference":[{"issue":"4","key":"332_CR1","doi-asserted-by":"crossref","first-page":"763","DOI":"10.1109\/TRO.2006.875492","volume":"22","author":"F Boyer","year":"2006","unstructured":"Boyer F, Porez M, Khalil W (2006) Macro-continuous computed torque algorithm for a three-dimensional eel-like robot. IEEE Trans Robot 22(4):763\u2013775","journal-title":"IEEE Trans Robot"},{"key":"332_CR2","doi-asserted-by":"crossref","unstructured":"Chatterjee S, Nachstedt T, Tamosiunaite M, W\u00f6rg\u00f6tter F, Enomoto Y, Ariizumi R, Matsuno F, Manoonpong P (2015) Learning and chaining of motor primitives for goal-directed locomotion of a snakelike robot with screw-drive units. Int J Adv Robot Syst 12","DOI":"10.5772\/61621"},{"key":"332_CR3","unstructured":"Chee WS, Teo J, Kinabalu, K (2014) Empirically comparing three multi-objective optimization approaches for the automated evolution of snake-like modular robots. In: Proceedings of the international conference on artificial intelligence and pattern recognition (AIPR), Malaysia, pp 175\u2013183"},{"issue":"4","key":"332_CR4","doi-asserted-by":"crossref","first-page":"561","DOI":"10.1242\/jeb.048751","volume":"214","author":"J Chen","year":"2011","unstructured":"Chen J, Friesen WO, Iwasaki T (2011) Mechanisms underlying rhythmic locomotion: bodyfluid interaction in undulatory swimming. J Exp Biol 214(4):561\u2013574","journal-title":"J Exp Biol"},{"key":"332_CR5","doi-asserted-by":"publisher","unstructured":"Di\u00a0Mario E, Talebpour Z, Martinoli A (2013) A comparison of PSO and reinforcement learning for multi-robot obstacle avoidance. In: Proceedings of IEEE congress on evolutionary computation (CEC), pp. 149\u2013156. Cancun. doi: 10.1109\/CEC.2013.6557565","DOI":"10.1109\/CEC.2013.6557565"},{"key":"332_CR6","doi-asserted-by":"crossref","DOI":"10.1002\/9781119994138","volume-title":"Handbook of marine craft hydrodynamics and motion control","author":"TI Fossen","year":"2011","unstructured":"Fossen TI (2011) Handbook of marine craft hydrodynamics and motion control. John Wiley & Sons Ltd, Oxford"},{"key":"332_CR7","volume-title":"Biologically inspired robots: snake-like locomotors and manipulators","author":"S Hirose","year":"1993","unstructured":"Hirose S (1993) Biologically inspired robots: snake-like locomotors and manipulators. Oxford University Press, Oxford"},{"key":"332_CR8","doi-asserted-by":"publisher","unstructured":"Kelasidi E, Pettersen KY, Gravdahl JT (2014) Stability analysis of underwater snake robot locomotion based on averaging theory. In: Proceedings of IEEE international conference on robotics and biomimetics (ROBIO). Bali, Indonesia, pp. 574\u2013581. doi: 10.1109\/ROBIO.2014.7090392","DOI":"10.1109\/ROBIO.2014.7090392"},{"key":"332_CR9","doi-asserted-by":"publisher","unstructured":"Kelasidi E, Pettersen KY, Gravdahl JT (2015) Energy efficiency of underwater robots. In: Proceedings of 10th IFAC conference on manoeuvring and control of marine craft (MCMC), pp 152\u2013159. Copenhagen, Denmark. doi: 10.1016\/j.ifacol.2015.10.273","DOI":"10.1016\/j.ifacol.2015.10.273"},{"key":"332_CR10","doi-asserted-by":"publisher","unstructured":"Kelasidi E, Pettersen KY, Gravdahl JT (2015) Energy efficiency of underwater snake robot locomotion. In: Proceedings of 23th mediterranean conference on control automation (MED). Torremolinos, Spain, pp 1124\u20131131. doi: 10.1109\/MED.2015.7158907","DOI":"10.1109\/MED.2015.7158907"},{"key":"332_CR11","doi-asserted-by":"publisher","unstructured":"Kelasidi E, Pettersen KY, Gravdahl JT, Liljeb\u00e4ck P (2014) Modeling of underwater snake robots. In: Proceedings of IEEE international conference on robotics and automation (ICRA). Hong Kong, China, pp 4540\u20134547. doi: 10.1109\/ICRA.2014.6907522","DOI":"10.1109\/ICRA.2014.6907522"},{"key":"332_CR12","doi-asserted-by":"publisher","unstructured":"Kelasidi E, Pettersen KY, Liljeb\u00e4ck P, Gravdahl JT (2014) Integral line-of-sight for path-following of underwater snake robots. In: Proceedings of IEEE multi-conference on systems and control. Juan Les Antibes, France, pp 1078\u20131085. doi: 10.1109\/CCA.2014.6981478","DOI":"10.1109\/CCA.2014.6981478"},{"key":"332_CR13","doi-asserted-by":"publisher","unstructured":"Kennedy J, Eberhart R (1995) Particle swarm optimization. In: Proceedings of IEEE international conference on neural networks. Perth, WA, pp 1942\u20131948. doi: 10.1109\/ICNN.1995.488968","DOI":"10.1109\/ICNN.1995.488968"},{"key":"332_CR14","volume-title":"Swarm intelligence","author":"J Kennedy","year":"2001","unstructured":"Kennedy J, Eberhart RC, Shi Y (2001) Swarm intelligence. Morgan Kaufmann Publishers, Burlington"},{"key":"332_CR15","doi-asserted-by":"publisher","unstructured":"Kennedy J, Mendes R (2002) Population structure and particle swarm performance. In: Proceedings of congress on evolutionary computation (CEC). Honolulu, HI, pp 1671\u20131676. doi: 10.1109\/CEC.2002.1004493","DOI":"10.1109\/CEC.2002.1004493"},{"issue":"24","key":"332_CR16","doi-asserted-by":"crossref","first-page":"4841","DOI":"10.1242\/jeb.02526","volume":"209","author":"S Kern","year":"2006","unstructured":"Kern S, Koumoutsakos P (2006) Simulations of optimized anguilliform swimming. J Exp Biol 209(24):4841\u20134857","journal-title":"J Exp Biol"},{"issue":"11","key":"332_CR17","doi-asserted-by":"crossref","first-page":"1238","DOI":"10.1177\/0278364913495721","volume":"32","author":"J Kober","year":"2013","unstructured":"Kober J, Bagnell JA, Peters J (2013) Reinforcement learning in robotics: a survey. Int J Robot Res 32(11):1238\u20131274","journal-title":"Int J Robot Res"},{"key":"332_CR18","volume-title":"Computational optimization, methods and algorithms","year":"2011","unstructured":"Koziel S, Yang XS (eds) (2011) Computational optimization, methods and algorithms. Springer Science and Business Media, Berlin"},{"key":"332_CR19","unstructured":"Kuo PD, Grierson D (2003) Genetic algorithm optimization of escape and normal swimming gaits for a hydrodynamical model of carangiform locomotion. In: Proceedings of genetic and evolutionary computing conference. Chicago, IL, pp 170\u2013177"},{"key":"332_CR20","doi-asserted-by":"publisher","unstructured":"Laskari EC, Parsopoulos KE, Vrahatis MN (2002) Particle swarm optimization for minimax problems. In: Proceedings of congress on evolutionary computation (CEC). Honolulu, HI, pp 1576\u20131581. doi: 10.1109\/CEC.2002.1004477","DOI":"10.1109\/CEC.2002.1004477"},{"issue":"1055","key":"332_CR21","doi-asserted-by":"crossref","first-page":"125","DOI":"10.1098\/rspb.1971.0085","volume":"179","author":"MJ Lighthill","year":"1971","unstructured":"Lighthill MJ (1971) Large-amplitude elongated-body theory of fish locomotion. Proc R Soc Lond Ser B Biol Sci 179(1055):125\u2013138","journal-title":"Proc R Soc Lond Ser B Biol Sci"},{"key":"332_CR22","doi-asserted-by":"crossref","unstructured":"Liljeb\u00e4ck P, Pettersen KY, Stavdahl \u00d8, Gravdahl JT (2013)\u00a0Snake Robots: Modelling, Mechatronics, and Control. Springer-Verlag, Advances in Industrial Control (2013)","DOI":"10.1007\/978-1-4471-2996-7"},{"key":"332_CR23","doi-asserted-by":"publisher","unstructured":"Liljeb\u00e4ck P, Stavdahl O, Pettersen KY, Gravdahl JT (2014) Mamba\u2014a waterproof snake robot with tactile sensing. In: Proceedings of international conference on intelligent robots and systems (IROS). Chicago, IL, pp 294\u2013301. doi: 10.1109\/IROS.2014.6942575","DOI":"10.1109\/IROS.2014.6942575"},{"issue":"4","key":"332_CR24","doi-asserted-by":"crossref","first-page":"637","DOI":"10.1109\/TRA.2003.814495","volume":"19","author":"K McIsaac","year":"2003","unstructured":"McIsaac K, Ostrowski J (2003) Motion planning for anguilliform locomotion. IEEE Trans Robot Autom 19(4):637\u2013652","journal-title":"IEEE Trans Robot Autom"},{"key":"332_CR25","volume-title":"Manual of political economy","author":"V Pareto","year":"1906","unstructured":"Pareto V (1906) Manual of political economy. A. M. Kelley, New York"},{"issue":"2\u20133","key":"332_CR26","doi-asserted-by":"crossref","first-page":"235","DOI":"10.1023\/A:1016568309421","volume":"1","author":"K Parsopoulos","year":"2002","unstructured":"Parsopoulos K, Vrahatis M (2002) Recent approaches to global optimization problems through particle swarm optimization. Nat Comput 1(2\u20133):235\u2013306","journal-title":"Nat Comput"},{"issue":"1117","key":"332_CR27","doi-asserted-by":"crossref","first-page":"158","DOI":"10.1098\/rspa.1952.0159","volume":"214","author":"G Taylor","year":"1952","unstructured":"Taylor G (1952) Analysis of the swimming of long and narrow animals. Proc R Soci Lond Ser A Math Phys Sci 214(1117):158\u2013183","journal-title":"Proc R Soci Lond Ser A Math Phys Sci"},{"key":"332_CR28","doi-asserted-by":"crossref","unstructured":"Tesch M, Schneider J, Choset H (2013) Expensive multiobjective optimization for robotics. In: Proceedings of IEEE international conference on robotics and automation (ICRA). Karlsruhe, Germany, pp 973\u2013980","DOI":"10.1109\/ICRA.2013.6630691"},{"key":"332_CR29","unstructured":"Wetter M (2011) GenOpt, generic optimization program, 3.1.0 edn. Simulation Research Group, Building Technologies Department, Lawrence Berkeley National Laboratory (Berkeley, CA 94720, 2011)"},{"key":"332_CR30","doi-asserted-by":"crossref","unstructured":"Wiens A, Nahon M (2012) Optimally efficient swimming in hyper-redundant mechanisms: control, design, and energy recovery. Bioinspir Biomim 7(4)","DOI":"10.1088\/1748-3182\/7\/4\/046016"},{"issue":"1","key":"332_CR31","doi-asserted-by":"crossref","first-page":"59","DOI":"10.1109\/TAC.1963.1105511","volume":"8","author":"L Zadeh","year":"1963","unstructured":"Zadeh L (1963) Optimality and non-scalar-valued performance criteria. IEEE Trans Autom Control 8(1):59\u201360","journal-title":"IEEE Trans Autom Control"}],"container-title":["Artificial Life and Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10015-016-0332-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10015-016-0332-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10015-016-0332-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,15]],"date-time":"2019-09-15T05:19:55Z","timestamp":1568524795000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10015-016-0332-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,11,5]]},"references-count":31,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2016,12]]}},"alternative-id":["332"],"URL":"https:\/\/doi.org\/10.1007\/s10015-016-0332-3","relation":{},"ISSN":["1433-5298","1614-7456"],"issn-type":[{"value":"1433-5298","type":"print"},{"value":"1614-7456","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,11,5]]}}}