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"Spline-based Trajectory Planning Techniques for Benthic AUV Operations", Proceedings of IEEE Autonomous Underwater Vehicles Conference, 2010.
"A Trajectory Optimization Method for Close Range Surveys of Non-Planar Surfaces", Aeronautics & Astronautics, vol. Ph.D.: Stanford University, pp. 104, 03/2012.
"Performing Visual Surveys of Non-Planar Benthic Terrain", Proceedings of Unmanned Untethered Submersible Technology Conference, 2009.
"Navigation for Performing Visual Surveys of Non-Planar Surfaces", Proceedings of AIAA Guidance, Navigation, and Control Conference, 2009.
"Control of a Climbing Robot using Real-Time Convex Optimization", Proceedings of the IFAC Symposium on Mechatronic Systems, September, 2006.
Real-Time Dynamic Trajectory Optimization with Application to Free-Flying Space Robots, , Stanford, CA 94305, Stanford University, December, 1997.
"Real-time Dynamic Trajectory Optimization", Proceedings of the AIAA Guidance, Navigation and Control Conference, Reston, VA, July, 1996.
A Real-Time Human Perception Interface for Task-Level Control of a Robot in Unfamiliar Environments, , Stanford, CA 94305, Stanford University, June, 1997.
"An Interactive Operator Interface for Task-Level Direction of a Robot in Uncertain Environments", Proceedings of the 2nd ASCE Conference on Robotics for Challenging Environments, Albuquerque, NM, pp. 50-56, June, 1996.
"Utilizing Human Vision and Computer Vision to Direct a Robot in a Semi-Structured Environment via Task-Level Commands", Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 1, Pittsburg, PA, pp. 366-371, August, 1995.
Experiments in Cooperative Manipulation of Flexible Objects, , Stanford, CA 94305, Stanford University, 1994.
"Coupled-System Stability of Flexible-Object Impedance Control", Proceedings of the International Conference on Robotics and Automation, Nagoya, Japan, IEEE, IEEE Computer Society, May, 1995.
"Cooperative Manipulation of Flexible Objects: Initial Experiments", Proceedings of the ASME Winter Annual Meeting: Dynamics of Flexible Multibody Systems: Theory and Experiment, Anaheim, CA, pp. 1-4, November, 1992.
"Experiments in Object Impedance Control for Flexible Objects", Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, pp. 1222-1227, May, 1994.
"AUV Terrain Relative Navigation Using Coarse Maps", Proceedings of the 2009 Unmanned Untethered Submersible Technology Conference, Durham, NH, August, 2009.
"Closed-Loop Terrain Relative Navigation for AUVs with Non-Inertial Grade Navigation Sensors", IEEE-OES Autonomous Underwater Vehicles Conference (AUV), Monterey, CA, 09/2010.
"Low-Cost Terrain Relative Navigation for Long-Range AUVs", Proceedings of the OCEANS 2008 MTS/IEEE QUEBEC Conference, Quebec City, Canada, September, 2008.
"Terrain relative navigation for sensor-limited systems with application to underwater vehicles", Aeronautics & Astronautics, vol. Ph.D.: Stanford University, pp. 183, 08/2011.
"Experiments in the Hydrodynamic Modeling of an Underwater Manipulator", Symposium on Autonomous Underwater Vehicle Technology: IEEE, pp. 463-469, June, 1996.
"Experiments in the coordination of Underwater Manipulator and Vehicle Control", Proceedings of Oceans '95, San Diego, CA, MTS/IEEE, pp. 1208-1215, October, 1995.
"Experimental Measurement of ROV Tether Tension", Proceedings of Intervention/ROV '92, San Diego, CA, IEEE, pp. 291-296, June, 1992.
"Experiments in the Coordinated Control of an Underwater Arm/Vehicle System", Journal of Autonomous Robots, vol. 3, no. 2 and 3, 1996.
"Development and Experimental Validation of an Underwater Manipulator Hydrodynamic Model", International Journal of Robotics Research, vol. 17, no. 7, pp. 748-759, 1998.
Modelling of Underwater Manipulator Hydrodynamics with Application to the Coordinated Control of an Arm/Vehicle System, , Stanford, CA 94305, Stanford University, August, 1995.
"The O/OREOS Mission: First Science Data from the Space Environment Viability of Organics (SEVO) Payload", Astrobiology, vol. 12, no. 9, pp. 841–853, Sep, 2012.