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"Spacecraft Formation Flying Control Design for the Orion Mission", Proc. of the 1999 AIAA GNC Conference, Portland, OR, AIAA, August, 1999.
"Formation Control Strategies for a Separated Spacecraft Interferometer", Proc. of the 1999 American Controls Conference, San Diego, CA, ACC, June, 1999.
An Object-Based Interaction Framework for the Operation of Multiple Field Robots, , Stanford, CA 94305, Stanford University, February, 2003.