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"An Interactive Operator Interface for Task-Level Direction of a Robot in Uncertain Environments", Proceedings of the 2nd ASCE Conference on Robotics for Challenging Environments, Albuquerque, NM, pp. 50-56, June, 1996.
"Utilizing Human Vision and Computer Vision to Direct a Robot in a Semi-Structured Environment via Task-Level Commands", Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 1, Pittsburg, PA, pp. 366-371, August, 1995.
Real-Time Dynamic Trajectory Optimization with Application to Free-Flying Space Robots, , Stanford, CA 94305, Stanford University, December, 1997.
"Real-time Dynamic Trajectory Optimization", Proceedings of the AIAA Guidance, Navigation and Control Conference, Reston, VA, July, 1996.
A Real-Time Human Perception Interface for Task-Level Control of a Robot in Unfamiliar Environments, , Stanford, CA 94305, Stanford University, June, 1997.
"Control of a Climbing Robot using Real-Time Convex Optimization", Proceedings of the IFAC Symposium on Mechatronic Systems, September, 2006.
"Performing Visual Surveys of Non-Planar Benthic Terrain", Proceedings of Unmanned Untethered Submersible Technology Conference, 2009.
"Navigation for Performing Visual Surveys of Non-Planar Surfaces", Proceedings of AIAA Guidance, Navigation, and Control Conference, 2009.
"Spline-based Trajectory Planning Techniques for Benthic AUV Operations", Proceedings of IEEE Autonomous Underwater Vehicles Conference, 2010.
"A Trajectory Optimization Method for Close Range Surveys of Non-Planar Surfaces", Aeronautics & Astronautics, vol. Ph.D.: Stanford University, pp. 104, 03/2012.