Ehsan Peymani, Thor I. Fossen. Path following of underwater robots using Lagrange multipliers. Robotics and Autonomous Systems, 67:44-52, 2015. [doi]
@article{PeymaniF15,
title = {Path following of underwater robots using Lagrange multipliers},
author = {Ehsan Peymani and Thor I. Fossen},
year = {2015},
doi = {10.1016/j.robot.2014.10.011},
url = {http://dx.doi.org/10.1016/j.robot.2014.10.011},
researchr = {https://researchr.org/publication/PeymaniF15},
cites = {0},
citedby = {0},
journal = {Robotics and Autonomous Systems},
volume = {67},
pages = {44-52},
}