@article{scholars8087,
           title = {Concertina effect-based underwater structure inspection by autonomous vehicles in three dimensions},
          number = {12},
          volume = {46},
            note = {cited By 0},
           pages = {2588--2600},
         journal = {Indian Journal of Geo-Marine Sciences},
       publisher = {National Institute of Science Communication and Policy Research},
            year = {2017},
            issn = {25826506},
          author = {McIntyre, D. and Naeem, W. and Ali, S. S. A.},
        abstract = {Autonomous underwater vehicles (AUVs) are becoming increasingly widespread in today's industrialised world, with research shifting towards cooperative control between multiple vehicles. Cooperative control between AUVs poses a number of challenges such as collision-avoidance, path-planning and group formation. This paper presents a novel 3D technique for the purposes of inspecting underwater structures using autonomous vehicles. Vehicles are navigated using a combination of traditional artificial potential fields (APFs) and rotational potential fields (RPFs) which are employed using 2D sub-planes in a concertina effect to provide full boundary coverage and inspection of submerged architectures. Vehicles are freed from the usual angular constraints associated with group strategies whilst moving in a fluid formation, reducing computational load. Simulation results show the effectiveness of the technique on two different-sized structures, providing varying customised levels of inspection and successful collision-free journeys throughout with minimal path length. {\^A}{\copyright} 2017, National Institute of Science Communication and Information Resources (NISCAIR). All rights reserved.},
        keywords = {autonomous underwater vehicle; collision avoidance; computer simulation; marine technology; numerical model; potential field; three-dimensional modeling; underwater environment},
             url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85037039829&partnerID=40&md5=7e79f8d3f368c4c695645f737b7c2df6}
}