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"A General Contact Model for Dynamically-Decoupled Force/Motion Control", Preprints of the ISER Proceedings, 1997.
"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.
"Underwater Vehicle Control from a Virtual Environment Interface", Proceedings of the Symposium on Interactive 3D Graphics, Monterey, CA, SIGGRAPH, April, 1995.
Bounded-Error Vision-Based Navigation of Autonomous Underwater Vehicles, , Stanford, CA 94305, Stanford University, May, 2000.
"Experimental Validation of a Real-Time Vision Sensor and Navigation System for Intelligent Underwater Vehicles", 1998 IEEE Conference on Intelligent Vehicles, Stuttgart, Germany, IEEE, pp. 201-206, October, 1998.
"Video Mosaicking Along Arbitrary Vehicle Paths", Proceedings of the Symposium on Autonomous Underwater Vehicle Technology, Monterey, CA, OES/IEEE, pp. 293-299, June, 1996.
"Improved Real-Time Video Mosaicking of the Ocean Floor", Proceedings of the OCEANS 95 Conference, San Diego, CA, MTS/IEEE, pp. 1935-1944, October, 1995.
"Trajectory Generation for Monocular-Vision Based Tracking of a Constant-Velocity Target", Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, IEEE, September, 2003.
Observer Trajectory Generation for Target-Motion Estimation Using Monocular Vision, , Stanford, CA 94305, Stanford University, August, 2003.
"Exploratory Motion Generation for Monocular Vision-Based Target Localization", Proceedings of the 2002 IEEE Aerospace Conference, Big Sky, MT, IEEE, March, 2002.