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Table 1 Planner thrusters’ operation modes

From: Design and development of Spaiser remotely operated vehicle

FR FL RR RL Motion
F F F F +ve X (Forward)
B B B B −ve X (Backward)
B F F B −ve Y (Right)
F B B F +ve Y (Left)
F B F B Rot Z CCW
B F B F Rot Z CW