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"Backpropagation Learning for Systems with Discrete-Valued Functions",
Proceedings of the World Congress on Neural Networks, vol. 3, San Diego, CA, pp. 332-339, June, 1994.
"Automatic Visual Station Keeping of an Underwater Robot",
Proceedings of IEEE Oceans 94 Osates, Brest, France, IEEE, September, 1994.
Adaptive Proximate Time-Optimal Servomechanisms,
, Stanford, CA 94305, Stanford University, 1987.
"A Contestant in the 1997 International Aerial Robotics Competition",
AUVSI '97 Proceedings: Stanford University Aerospace Robotics Lab, July, 1997.
"A Contestant in the 1996 International Aerial Robotics Competition",
AUVSI '96 Proceedings, Orlando, FL, Stanford University Aerospace Robotics Lab, pp. 939-946, July, 1996.
"A Contestant in the 1995 International Aerial Robotics Competition",
Proceedings Manual. AUVS '95 Technical Papers, Washington, D.C., Stanford University Aerospace Robotics Lab, pp. 669-676, July, 1995.