{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:59:24Z","timestamp":1777715964707,"version":"3.51.4"},"reference-count":37,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2010,1,25]],"date-time":"2010-01-25T00:00:00Z","timestamp":1264377600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2010,4]]},"abstract":"<jats:p>In this paper we describe the design and control algorithms of AMOUR , a low-cost autonomous underwater vehicle (AUV) capable of missions of marine survey and monitoring. AMOUR is a highly maneuverable robot capable of hovering and carrying dynamic payloads during a single mission. The robot can carry a variety of payloads. It uses internal buoyancy and balance control mechanisms to achieve power efficient motions regardless of the payload size. AMOUR is designed to operate in synergy with a wireless underwater sensor network (WUSN) of static nodes. The robot\u2019s payload was designed in order to deploy, relocate and recover the static sensor nodes. It communicates with the network acoustically for signaling and localization and optically for data muling. We present control algorithms, navigation algorithms, and experimental data from pool and ocean trials with AMOUR that demonstrate its basic navigation capabilitrials with AMOUR that demonstrate its basic navigation capabili ties, power efficiency, and ability to carry dynamic payloads.<\/jats:p>","DOI":"10.1177\/0278364909358275","type":"journal-article","created":{"date-parts":[[2010,1,25]],"date-time":"2010-01-25T20:56:15Z","timestamp":1264452975000},"page":"547-570","source":"Crossref","is-referenced-by-count":66,"title":["AMOUR V: A Hovering Energy Efficient Underwater Robot Capable of Dynamic Payloads"],"prefix":"10.1177","volume":"29","author":[{"given":"Iuliu","family":"Vasilescu","sequence":"first","affiliation":[{"name":"Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology, Cambridge, MA 02139, USA,"}]},{"given":"Carrick","family":"Detweiler","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"}]},{"given":"Marek","family":"Doniec","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"}]},{"given":"Daniel","family":"Gurdan","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"}]},{"given":"Stefan","family":"Sosnowski","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"}]},{"given":"Jan","family":"Stumpf","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"}]},{"given":"Daniela","family":"Rus","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"}]}],"member":"179","published-online":{"date-parts":[[2010,1,25]]},"reference":[{"key":"atypb1","first-page":"1956","volume":"3","author":"Allen, G.","year":"2005","journal-title":"Proceedings of MTS\/IEEE OCEANS"},{"key":"atypb2","volume-title":"Underwater Robotics, 987-1008","author":"Antonelli, G.","year":"2008"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2003.1250733"},{"key":"atypb4","volume-title":"International Conference on Robotics and Automation (ICRA07)","author":"Corke, P."},{"key":"atypb5","first-page":"1","author":"Crimmins, D.","year":"2006","journal-title":"Proceedings of OCEANS"},{"key":"atypb6","volume-title":"Proceedings of the 2006 International Workshop on Algorithmic Foundations of Robotics","author":"Detweiler, C."},{"key":"atypb7","volume-title":"Proceedings of the 11th International Symposium on Experimental Robotics","author":"Detweiler, C."},{"key":"atypb8","volume-title":"Proceedings of OCEANS 2007-Europe","author":"Detweiller, C."},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1109\/MC.2007.6"},{"key":"atypb10","volume-title":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","author":"Dunbabin, M."},{"key":"atypb11","volume-title":"International Symposium on Experimental Robotics","author":"Dunbabin, M."},{"key":"atypb12","volume-title":"Proceedings of the 2006 International Conference on Robotics and Automation","author":"Dunbabin, M."},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1109\/48.972073"},{"key":"atypb14","volume-title":"An Introduction to the Kalman Filter. 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