8th International Symposium on AUTOMATIC CONTROL (Autsym 2017), 21.-22. Sept. 2017, Wismar (D), pp. 1-9. Lack, S., Rentzow, E., Jeinsch, T.: Experimental Parameter Identification for an Open-Frame ROV:
https://www.rt.uni-rostock.de/arbeitsgruppe/mitarbeiter/m-eng-sven-lack/