Low-Cost Hybrid Underwater Glider Utilizes Buoyancy and Thruster Actuation: Design and Control. - Rui Hu; Yufei Jin; Chenxin Lyu; Tongjin Wei; Junping Li; Yuanbo Bi; Zheng Zeng 003; Lian Lian (J. Intell. Robotic Syst., 2022)