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"Optimal Control of a Two-Link Flexible Manipulator Using Time-Varying Controller Gains: Initial Experiments", Proceedings of the American Astronautical Society Guidance and Control Conference, Keystone, CO, February, 1992.
"Optimal Despin of a Tumbling Satellite with an Arbitrary Thruster Configuration, Inertia Matrix, and Cost Functional", Proceedings of the 20th AAS/AIAA Space Flight Mechanics Meeting, San Diego, AAS/AIAA, 2010.
"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.
"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.
"OTTER: The Design and Development of an Intelligent Underwater Robot", Autonomous Robots, vol. 3, no. 2-3, pp. 297-320, June-July, 1996.
"Particle Filtering Range Data for Pose Estimation under Torque-Free Motion", IASTED International Conference on Robotics and Applications, Boston, MA, November, 2009.
"Performing Visual Surveys of Non-Planar Benthic Terrain", Proceedings of Unmanned Untethered Submersible Technology Conference, 2009.
"Planning Robust Dynamic Transitions for Enhanced Mobility of Planetary Rovers", Proceedings of the 2nd IFAC Conference on Mechatronic Systems, Berkeley, CA, pp. 109-114, December, 2002.
"Quantification of Cyclic Motion of Marine Animals from Computer Vision", Proceedings of the IEEE OCEANS Conference, pp. 1575-1581, 2002.
"Randomized Motion Planning for Groups of Nonholonomic Robots", Proceedings of the 6th International Symposium on Artificial Intelligence, Robotics, and Automation in Space, Montreal, Canada, June, 2001.
"Real-time Dynamic Trajectory Optimization", Proceedings of the AIAA Guidance, Navigation and Control Conference, Reston, VA, July, 1996.
"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.
"Real-Time Visual Mosaicking and Navigation of the USS Macon", Proceedings of the Unmanned Untethered Submersible Technology Conference (UUST), Durham, NH, AUSI, Aug, 2007.
Real-Time Visual Mosaicking and Navigation on the Seafloor, , Stanford, CA 94305, Stanford University, March, 2009.
"Reconfigurable Control of a Free-Flying Space Robot using Neural Networks", Proceedings of the American Control Conference, Seattle, WA, June, 1995.
"Relative Position Estimation for AUVs by Fusing Bearing and Inertial Rate Sensor Measurements", Proceedings of the Oceans 2002 Conference, Biloxi, MS, MTS/IEEE, pp. 1857-1864, October, 2002.
"Relative Position Estimation for Intervention-Capable AUVs by Fusing Vision and Inertial Measurements", Proceedings of the 12th International Symposium on Unmanned Untethered Submersible Technology, Durham, NH, Autonomous Undersea Systems Institute, August, 2001.
"Relative Position Estimation for Manipulation Tasks by Fusing Vision and Inertial Measurements", Proceedings of the Oceans 2001 Conference, vol. 2, Honolulu, HI, MTS/IEEE, pp. 1025-1031, November, 2001.
"Relative Position Sensing and Automatic Control for Observation in the Midwater by an Underwater Vehicle", Proceedings of the Unmanned Untethered Submersible Technology Conference (UUST), Durham, NH, AUSI, August, 2005.
"Relative Position Sensing by Fusing Monocular Vision and Inertial Rate Sensors", Proceedings of the 11th International Conference on Advanced Robotics, vol. 3, Coimbra, Portugal, IEEE, pp. 1562-1567, July, 2003.
"Rigid Body Inertia Estimation with Applications to the Capture of a Tumbling Satellite", Proceedings of 19th AAS/AIAA Spaceflight Mechanics Meeting, Savannah, GA, February, 2009.
"Robust Execution of Aggressive Maneuvers for Planetary Robotics", Proceedings of the 2002 AIAA Guidance, Navigation, and Control Conference and Exhibit, Monterey, CA, August, 2002.
"Segmentation methods for visual tracking of deep-ocean jellyfish using a conventional camera", Oceanic Engineering, IEEE Journal of, vol. 28, no. 4, pp. 595-608, Oct., 2003.
"Self-Calibration of Pseudolite Arrays Using Self-Differencing Transceivers", Proceedings of the Institute of Navigation GPS-99 Conference, Nashville, TN, pp. 1549-1558, September, 1999.