Understanding the power requirements of autonomous underwater systems, Part I: An analytical model for optimum swimming speeds and cost of transport

Phillips, Alexander; Haroutunian, Maryam; Murphy, Alan J.; Boyd, Stephen; Blake, James; Griffiths, Gwyn. 2017 Understanding the power requirements of autonomous underwater systems, Part I: An analytical model for optimum swimming speeds and cost of transport. Ocean Engineering, 133. 271-279. https://doi.org/10.1016/j.oceaneng.2015.12.014