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"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.
"Performing Visual Surveys of Non-Planar Benthic Terrain", Proceedings of Unmanned Untethered Submersible Technology Conference, 2009.
"Control of a Climbing Robot using Real-Time Convex Optimization", Proceedings of the IFAC Symposium on Mechatronic Systems, September, 2006.
"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.
A Real-Time Human Perception Interface for Task-Level Control of a Robot in Unfamiliar Environments, , Stanford, CA 94305, Stanford University, June, 1997.
"Real-time Dynamic Trajectory Optimization", Proceedings of the AIAA Guidance, Navigation and Control Conference, Reston, VA, July, 1996.
"Experiments in Object Impedance Control for Flexible Objects", Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, pp. 1222-1227, May, 1994.
Experiments in Cooperative Manipulation of Flexible Objects, , Stanford, CA 94305, Stanford University, 1994.
"Coupled-System Stability of Flexible-Object Impedance Control", Proceedings of the International Conference on Robotics and Automation, Nagoya, Japan, IEEE, IEEE Computer Society, May, 1995.
"Cooperative Manipulation of Flexible Objects: Initial Experiments", Proceedings of the ASME Winter Annual Meeting: Dynamics of Flexible Multibody Systems: Theory and Experiment, Anaheim, CA, pp. 1-4, November, 1992.
"Closed-Loop Terrain Relative Navigation for AUVs with Non-Inertial Grade Navigation Sensors", IEEE-OES Autonomous Underwater Vehicles Conference (AUV), Monterey, CA, 09/2010.
"Low-Cost Terrain Relative Navigation for Long-Range AUVs", Proceedings of the OCEANS 2008 MTS/IEEE QUEBEC Conference, Quebec City, Canada, September, 2008.
"Terrain relative navigation for sensor-limited systems with application to underwater vehicles", Aeronautics & Astronautics, vol. Ph.D.: Stanford University, pp. 183, 08/2011.
"AUV Terrain Relative Navigation Using Coarse Maps", Proceedings of the 2009 Unmanned Untethered Submersible Technology Conference, Durham, NH, August, 2009.
Modelling of Underwater Manipulator Hydrodynamics with Application to the Coordinated Control of an Arm/Vehicle System, , Stanford, CA 94305, Stanford University, August, 1995.
"Experiments in the Hydrodynamic Modeling of an Underwater Manipulator", Symposium on Autonomous Underwater Vehicle Technology: IEEE, pp. 463-469, June, 1996.
"Experiments in the coordination of Underwater Manipulator and Vehicle Control", Proceedings of Oceans '95, San Diego, CA, MTS/IEEE, pp. 1208-1215, October, 1995.
"Experimental Measurement of ROV Tether Tension", Proceedings of Intervention/ROV '92, San Diego, CA, IEEE, pp. 291-296, June, 1992.
"Experiments in the Coordinated Control of an Underwater Arm/Vehicle System", Journal of Autonomous Robots, vol. 3, no. 2 and 3, 1996.
"Development and Experimental Validation of an Underwater Manipulator Hydrodynamic Model", International Journal of Robotics Research, vol. 17, no. 7, pp. 748-759, 1998.
"The O/OREOS Mission: First Science Data from the Space Environment Viability of Organics (SEVO) Payload", Astrobiology, vol. 12, no. 9, pp. 841–853, Sep, 2012.