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"3-D Capabilities for GPS Transceiver Arrays", Proceedings of the Institute of Navigation GPS-2002 Conference, Portland, OR, September, 2002.
"Autonomous Deployment of a Self-Calibrating Pseudolite Array for Mars Rover Navigation", Proceedings of the 2004 IEEE Position, Location, and Navigation Symposium (PLANS), Monterey, CA, April, 2004.
On the Control of Flexible Mechanical Systems, , Stanford, CA 94305, Stanford University, May, 1978.
"Real-time video mosaicking of the ocean floor", IEEE Journal of Oceanic Engineering, vol. 20, no. 3, pp. 229-241, July, 1995.
"Real-Time Video Mosaicking of the Ocean Floor", Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology, Cambridge, MA, IEEE, July, 1994.
Experiments in Visual Sensing for Automatic Control of an Underwater Robot, , Stanford, CA 94305, Stanford University, June, 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.
Force Control of Robotic Manipulators with Structural Flexibility, , Stanford, CA 94305, Stanford University, June, 1985.
"Experiments in Force Control of Robotic Manipulators", Proceedings of the International Conference on Robotics and Automation, San Francisco, CA, IEEE, IEEE Computer Society, pp. 695-702, April, 1986.