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"Terrain relative navigation for sensor-limited systems with application to underwater vehicles", Aeronautics & Astronautics, vol. Ph.D.: Stanford University, pp. 183, 08/2011.
"Closed-Loop Terrain Relative Navigation for AUVs with Non-Inertial Grade Navigation Sensors", IEEE-OES Autonomous Underwater Vehicles Conference (AUV), Monterey, CA, 09/2010.
"AUV Terrain Relative Navigation Using Coarse Maps", Proceedings of the 2009 Unmanned Untethered Submersible Technology Conference, Durham, NH, August, 2009.