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"A Modular System Architecture for Multi-Manipulator, Free-Flying Space Robots", Proceedings of the International Symposium on Intelligent Control, Chicago, IL, pp. 90-97, August, 1993.
Experiments in Autonomous Navigation and Control of Multi-Manipulator Free-Flying Space Robots, , Stanford, CA 94305, Stanford University, March, 1993.
"Experiments in Global Navigation and Control of a Free-Flying Space Robot", Proceedings of the ASME Winter Annual Meeting, San Francisco, CA, December, 1989.
Experiments in High-Performance Nonlinear and Adaptive Control of a Two-Link, Flexible-Drive-Train Manipulator, , Stanford, CA 94305, Stanford University, May, 1990.