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Most of the work on geocasting has been done for mobile ad-hoc networks and vehicular ad-hoc networks; RMTG is a novel simulated model for underwater environment.

According to the analysis of the control model for underwater robots, a path tracking method for underwater robots based on a line-of-sight method is proposed.

Based on these results, the properties regarding the gait parameters of the sinusoidal motion pattern were verified and the control-oriented model presented in this paper was validated as a suitable model for underwater snake robot locomotion.

To acquire the initial PER over hop 1, we assume that node N 0 send HELLO packets while node N 1 computes the bit error rate (BER) over hop 1 based on the received SNR information and by using an appropriate channel model for underwater acoustic link as reported in [37].

Moreover, the experimental results presented in this paper not only verify the properties regarding the gait parameters of the sinusoidal motion pattern derived based on the control-oriented model and the empirical rules derived based on an extensive simulation study using the complex model, but also validate the control-oriented model as a suitable model for underwater snake robot locomotion.

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In this paper, we obtained spatio-temporal distribution of the substance concentration by solving physical diffusion model for an underwater oil spill scenario which considers laminar water velocity as an external force.

The majority of previous modeling approaches for underwater snake robots omit the fluid moments (fluid torques) by considering that their effect on the motion of the robot is negligible [34, 36, 42].

Figures 4b and 5b presents simulation results for the complex model of underwater snake robot where the added mass, linear and nonlinear drag effects are taken into account, respectively, for lateral undulation and eel-like motion patterns.

Simulation results for the control-oriented model are shown in Figs. 6a and 7a, while Figs. 6b and 7b show simulation results for the complex model presented in "A complex model of underwater snake robots".

A 3D architecture model is established for the underwater distributary channel reservoir in the study area, providing a quantitative and reliable geological model for analysis of underwater distributary channel sands in the whole area.

Based on the closed form model which is briefly presented in "A complex model of underwater snake robots", empirical rules are derived in [46] through an extensive simulation study for the relationships between the parameters of the gait patterns, the consumed energy and the forward velocity for different motion patterns for underwater snake robots.

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