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"Intensity based local terrain estimation with a multi-beam sonar", OCEANS 2016 MTS/IEEE, Monterey, CA, 09/2016.
"Automated point cloud correspondence detection for underwater mapping using AUVs", OCEANS 2015, Washington DC, MTS, pp. 1-7, 10/2015.
"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.
"Aggressive Terrain Following for Motion-Constrained AUVs", IEEE AUV 2012, Southampton, England, 09/2012.
"A Trajectory Optimization Method for Close Range Surveys of Non-Planar Surfaces", Aeronautics & Astronautics, vol. Ph.D.: Stanford University, pp. 104, 03/2012.
"Terrain relative navigation for sensor-limited systems with application to underwater vehicles", Aeronautics & Astronautics, vol. Ph.D.: Stanford University, pp. 183, 08/2011.
"Closed-Loop Terrain Relative Navigation for AUVs with Non-Inertial Grade Navigation Sensors", IEEE-OES Autonomous Underwater Vehicles Conference (AUV), Monterey, CA, 09/2010.
"Spline-based Trajectory Planning Techniques for Benthic AUV Operations", Proceedings of IEEE Autonomous Underwater Vehicles Conference, 2010.
"AUV Terrain Relative Navigation Using Coarse Maps", Proceedings of the 2009 Unmanned Untethered Submersible Technology Conference, Durham, NH, August, 2009.
"Navigation for Performing Visual Surveys of Non-Planar Surfaces", Proceedings of AIAA Guidance, Navigation, and Control Conference, 2009.
"Performing Visual Surveys of Non-Planar Benthic Terrain", Proceedings of Unmanned Untethered Submersible Technology Conference, 2009.
"Low-Cost Terrain Relative Navigation for Long-Range AUVs", Proceedings of the OCEANS 2008 MTS/IEEE QUEBEC Conference, Quebec City, Canada, September, 2008.
"Control of a Climbing Robot using Real-Time Convex Optimization", Proceedings of the IFAC Symposium on Mechatronic Systems, September, 2006.
"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.
"Climbing Robots in Natural Terrain", Proceedings of the 7th International Symposium on Artificial Intelligence, Robotics and Automation in Space, Nara, Japan, May, 2003.
"Mars Navigation System Utilizes GPS", IEEE Aerospace and Electronic Systems Magazine, vol. 18, no. 4, pp. 3-8, April, 2003.
"3-D Capabilities for GPS Transceiver Arrays", Proceedings of the Institute of Navigation GPS-2002 Conference, Portland, OR, September, 2002.
"Autonomous Robots in SWAT Applications: Research, Design, and Operations Challenges", Proceedings of the 2002 Symposium for the Association of Unmanned Vehicle Systems International (AUVSI '02), Orlando, FL, AUVSI, July, 2002.
"Field Demonstration of a Mars Navigation System Utilizing GPS Pseudolite Transceivers", Proceedings of the 2002 IEEE Position, Location, and Navigation Symposium, Palm Springs, CA, pp. 150-155, April, 2002.
"Development and Experimental Validation of an Underwater Manipulator Hydrodynamic Model", International Journal of Robotics Research, vol. 17, no. 7, pp. 748-759, 1998.
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 with Application to Free-Flying Space Robots, , Stanford, CA 94305, Stanford University, December, 1997.
"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.
"Experiments in the Hydrodynamic Modeling of an Underwater Manipulator", Symposium on Autonomous Underwater Vehicle Technology: IEEE, pp. 463-469, June, 1996.
"Real-time Dynamic Trajectory Optimization", Proceedings of the AIAA Guidance, Navigation and Control Conference, Reston, VA, July, 1996.