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Experiments in Cooperative Manipulation of Objects by Free-Flying Robot Teams, , Stanford, CA 94305, Stanford University, December, 1993.
"Robust Adaptive Terrain-Relative Navigation", MTS/IEEE OCEANS 2014, St. Johns, Newfoundland, 09/2014.
"Robust adaptive terrain-relative navigation", Aeronautics & Astronautics, vol. Ph.D.: Stanford University, pp. 188, 12/2015.
"Improving Robustness of Terrain-Relative Navigation for AUVs in Regions with Flat Terrain", IEEE AUV 2012, Southampton, England, 09/2012.