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"A Contestant in the 1997 International Aerial Robotics Competition", AUVSI '97 Proceedings: Stanford University Aerospace Robotics Lab, July, 1997.
"Carrier Phase GPS and Computer Vision for the Control of an Autonomous Helicopter", Proceedings of the Institute of Navigation GPS-96 Conference, Kansas City, MO, pp. 461-465, September, 1996.
"OTTER: The Design and Development of an Intelligent Underwater Robot", Autonomous Robots, vol. 3, no. 2-3, pp. 297-320, June-July, 1996.
"Video Mosaicking Along Arbitrary Vehicle Paths", Proceedings of the Symposium on Autonomous Underwater Vehicle Technology, Monterey, CA, OES/IEEE, pp. 293-299, June, 1996.
"A Contestant in the 1996 International Aerial Robotics Competition", AUVSI '96 Proceedings, Orlando, FL, Stanford University Aerospace Robotics Lab, pp. 939-946, July, 1996.
"Joint Evaluation of Mission Programming for Underwater Robots", Proceedings of IEEE International Conference on Robotics and Automation, Minneapolis, MN, IEEE, pp. 2492-2497, April, 1996.
"Experiments in the Coordinated Control of an Underwater Arm/Vehicle System", Journal of Autonomous Robots, vol. 3, no. 2 and 3, 1996.
"Experiments in the Automatic Retrieval of Underwater Objects with an AUV", Proceedings of Oceans '95, San Diego, CA, MTS/IEEE, pp. 366-373, October, 1995.
"Experiments in the coordination of Underwater Manipulator and Vehicle Control", Proceedings of Oceans '95, San Diego, CA, MTS/IEEE, pp. 1208-1215, October, 1995.
"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.
"Real-time video mosaicking of the ocean floor", IEEE Journal of Oceanic Engineering, vol. 20, no. 3, pp. 229-241, July, 1995.
"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.
"Underwater Vehicle Control from a Virtual Environment Interface", Proceedings of the Symposium on Interactive 3D Graphics, Monterey, CA, SIGGRAPH, April, 1995.
"Automatic Visual Station Keeping of an Underwater Robot", Proceedings of IEEE Oceans 94 Osates, Brest, France, IEEE, September, 1994.
"Visual Sensing for Control of an Underwater Robotic Vehicle", Proceedings of IARP Second Workshop on Mobile Robots for Subsea Environments, Monterey, CA, IARP, May, 1994.
"Real-Time Video Mosaicking of the Ocean Floor", Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology, Cambridge, MA, IEEE, July, 1994.
"Task-Based Control Architecture for an Untethered, Unmanned Submersible", Proceedings of the 8th Annual Symposium of Unmanned Untethered Submersible Technology, Marine Systems Engineering Laboratory, Northeastern University, pp. 137-147, September, 1993.
"Experimental Integration of Planning in a Distributed Control System", Experimental Robotics III: The Third International Symposium, vol. 200, Kyoto, Japan, Springer-Verlag, pp. 50-61, October, 1993.
"Combined Camera and Vehicle Tracking of Underwater Objects", Proceedings of Intervention/ROV '92, San Diego, CA, June, 1992.
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.
"Order n Formulation for Equations of Motion of Multibody Systems", Proceedings of the Workshop on Multibody Simulation, Pasadena, CA, JPL, pp. 1122-1150, April, 1988.
"Design of Low-Order Compensators using Parameter Optimization", Automatica, vol. 21, no. 3, pp. 315-318, 1985.
A Design Algorithm for Robust Low-Order Controllers, , Stanford, CA 94305, Stanford University, November, 1982.