Patil PV, Khan MK, Korulla M, Nagarajan V, Sha OP. Manoeuvring simulations of Autonomous Underwater Vehicle using quaternion. Def. Sc. J. [Internet]. 2022 May 11 [cited 2025 Jun. 16];72(2):290-307. Available from: https://publications.drdo.gov.in/ojs/index.php/dsj/article/view/16858