Hardware-in-the-Loop verification for 3D obstacle avoidance algorithm of an underactuated flat-fish type AUV. - Saravanakumar Subramanian; Thomas George; Asokan Thondiyath (ROBIO, 2012)

Multipoint potential field method for path planning of autonomous underwater vehicles in 3D space. - Saravanakumar Subramanian; Asokan Thondiyath (Intell. Serv. Robotics, 2013)

Real-Time obstacle Avoidance for an underactuated flat-Fish Type Autonomous underwater Vehicle in 3D Space. - Saravanakumar Subramanian; Thomas George; Asokan Thondiyath (Int. J. Robotics Autom., 2014)