1. Multistep thrust allocation method based on priority idea for remotely operated underwater vehicle with horizontal thrusters configured as X shape. (31st March 2022) Authors: Sun, Gongwu; Xie, Jirong; Qu, Junqi; Li, Xinguang Journal: International journal of advanced robotic systems Issue: Volume 19:Number 2(2022) Page Start: Record Type: Journal Article View Content: Available online (eLD content is only available in our Reading Rooms) ↗