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"Toward Autonomous Free-Climbing Robots", Proceedings of the 2003 International Symposium of Robotics Research, Siena, Italy, October, 2003.
"Toward an improved understanding of thruster dynamics for underwater vehicles", IEEE Journal of Oceanic Engineering, vol. 20, no. 4, pp. 354-361, October, 1995.
"Toward an improved understanding of thruster dynamics for underwater vehicles", Proceedings of AUV '94, Cambridge, MA, OES/IEEE, pp. 340-352, July, 1994.
"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.
"Station Keeping of an ROV Using Vision Technology", Proceedings of the OCEANS 97 Conference, Halifax, Nova Scotia, MTS/IEEE, October, 1997.
"Stanford aerospace robotics laboratory research overview", Proceedings of the Space Operations, Applications and Research Symposium, Houston, TX, August, 1992.
"Sonar-Based Iceberg-Relative AUV Localization", UUST: Unmanned Untethered Submersible Technology, Durham, NH, Autonomous Undersea Systems Institute, August, 2009.
"Robust Execution of Aggressive Maneuvers for Planetary Robotics", Proceedings of the 2002 AIAA Guidance, Navigation, and Control Conference and Exhibit, Monterey, CA, August, 2002.
"Pseudolite Augmented Navigation for GEO Communication Satellite Collocation", Proceedings of the 2000 IEEE Aerospace Conference, vol. 7, Big Sky, MT, pp. 89-97, March, 2000.
"Planning Robust Dynamic Transitions for Enhanced Mobility of Planetary Rovers", Proceedings of the 2nd IFAC Conference on Mechatronic Systems, Berkeley, CA, pp. 109-114, December, 2002.
"OTTER: A Testbed Submersible for Robotics Research", Proceedings of the ANS 6th Topical Meeting on Robotics and Remote Systems, Monterey, CA, American Nuclear Society, pp. 587-594, February, 1995.
"Optimal Control of a Two-Link Flexible Manipulator Using Time-Varying Controller Gains: Initial Experiments", Proceedings of the American Astronautical Society Guidance and Control Conference, Keystone, CO, February, 1992.
"Multi-Step Motion Planning for Free-Climbing Robots", Proceedings of the 2004 Workshop on the Algorithmic Foundations of Robotics, Utrecht/Zeist, The Netherlands, July, 2004.
"Motion Planning for a Three-Limbed Climbing Robot in Vertical Natural Terrain", Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, May, 2003.
"Kinematic Path-planning for Formations of Mobile Robots with a Nonholonomic Constraint", Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, IEEE/RSJ, September, 2002.
Integrated Planning and Control for Cooperating, Flexible Robotic Manipulators, , no. 1, Stanford, CA 94305, Stanford University Aerospace Robotics Lab and Stanford Computer Science Robotics Laboratory, October, 1991.
"Global Position Determination and Vehicle Path Estimation from a Vision Sensor for Real-Time Video Mosaicking and Navigation", Proceedings of the OCEANS 97 Conference, Halifax, Nova Scotia, MTS/IEEE, October, 1997.
"Free-Climbing with a Multi-Use Robot", Proceedings of the 2004 International Symposium on Experimental Robotics, Singapore, June, 2004.
Experiments in High-Performance Control of a Multi-Link Flexible Manipulator with a Mini-Manipulator, , Stanford, CA 94305, Stanford University, April, 1994.
"Experiments in Force Control of Robotic Manipulators", Proceedings of the International Conference on Robotics and Automation, San Francisco, CA, IEEE, IEEE Computer Society, pp. 695-702, April, 1986.
"End-Point Controller Design For An Experimental Two-Link Flexible Manipulator Using Convex Optimization", Proceedings of the American Control Conference, San Diego, CA, May, 1990.
"End-Point Control of a Two-Link Flexible Robotic Manipulator with a Mini-Manipulator: Initial Experiments", Proceedings of the American Control Conference, Chicago, IL, June, 1992.
"End-Point Control of a Two-Link Flexible Robotic Manipulator with a Mini-Manipulator: Dynamic Coupling Issues", Proceedings of the ASME Winter Annual Meeting, Anaheim, CA, November, 1992.
"Design of Low-Order Compensators using Parameter Optimization", Automatica, vol. 21, no. 3, pp. 315-318, 1985.
"Control of a Climbing Robot using Real-Time Convex Optimization", Proceedings of the IFAC Symposium on Mechatronic Systems, September, 2006.