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Dynamics of Physical Systems, , New York, NY, McGraw-Hill, 1967.
Object Control for Undersea Robotic Vehicles, : Stanford University Aerospace Robotics Lab, September, 1993.
Experiments in Adaptive Control of Multiple Cooperating Manipulators on a Free-Flying Space Robot, , Stanford, CA 94305, Stanford University, December, 1992.
"Experiments in Nonlinear Adaptive Control of Free-Flying Space Robots", Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, May, 1994.
Rapid Precise End Point Control of a Wrist Carried by a Flexible Manipulator, , Stanford, CA 94305, Stanford University, March, 1986.
"The Experimental Results of a Self Tuning Adaptive Controller using Online Frequency Identification", The Journal of Astronautical Science, vol. 33, no. 1, pp. 71-83, January-March, 1985.
"Motion Planning for Multiple Mobile Robots using Dynamic Networks", Proceedings of the 2003 International Conference on Robotics and Automation, Taipei, Taiwan, IEEE, May, 2003.
"Randomized Motion Planning for Groups of Nonholonomic Robots", Proceedings of the 6th International Symposium on Artificial Intelligence, Robotics, and Automation in Space, Montreal, Canada, June, 2001.
"Dynamic Robot Networks for Motion Planning in Multi-Robot Space Systems", Proceedings of the 7th International Sympsium on Artificial Intelligence, Robotics, and Automation in Space, Nara, Japan, iSAIRAS, May, 2003.
"Applying Kinodynamic Randomized Motion Planning with a Dynamic Priority System to Multi-Robot Space Systems", Proceedings of the 2002 IEEE Aerospace Conference, Big Sky, MT, IEEE, March, 2002.
Dynamic Robot Networks: A Coordination Platform for Multi-Robot Systems, , Stanford, CA 94305, Stanford University, June, 2004.
"An Integrated System for Command and Control of Cooperative Robotic Systems", Proceedings of the 11th International Conference on Advanced Robotics, Portugal, June, 2003.
Autonomous Control of an Unstable Helicopter Using Carrier Phase GPS Only, , Stanford, CA 94305, Stanford University, March, 1995.
"GPS Sensing for Spacecraft Formation Flying", Proceedings of the Institute of Navigation GPS-97 Conference, Kansas City, MO, September, 1997.
"Onboard GPS Signal Augmentation for Spacecraft Formation Flying", Proceedings of the Institute of Navigation GPS-98 Conference, Nashville, TN, September, 1998.
"Cooperative research in underwater robot mission-level programming methodologies", Proceedings of IARP Sixth Workshop on Underwater Robotics, Toulon-La Seyne, France, Internation Advanced Robotics Program, March, 1996.
"Joint Evaluation of Mission Programming for Underwater Robots", Proceedings of IEEE International Conference on Robotics and Automation, Minneapolis, MN, IEEE, pp. 2492-2497, April, 1996.
"Influence of Trajectory on Accuracy of Hazard Estimation During Lunar Landing", AIAA Guidance, Navigation, and Control Conference, Minneapolis, MN, AIAA, 08/2012.
"Guidance Augmentation for Reducing Uncertainty in Vision-Based Hazard Mapping during Lunar Landing", IEEE Aerospace, Big Sky, MT, IEEE, 03/2013.
"Vision-based hazard estimation during autonomous lunar landing", Aeronautics & Astronautics, vol. PhD, Stanford, CA, Stanford University, 06/2014.