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"Visual Sensing for Control of an Underwater Robotic Vehicle", Proceedings of IARP Second Workshop on Mobile Robots for Subsea Environments, Monterey, CA, IARP, May, 1994.
"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.
"Automatic Visual Station Keeping of an Underwater Robot", Proceedings of IEEE Oceans 94 Osates, Brest, France, IEEE, September, 1994.
"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.
"3-D Capabilities for GPS Transceiver Arrays", Proceedings of the Institute of Navigation GPS-2002 Conference, Portland, OR, September, 2002.
"Experiments in the coordination of Underwater Manipulator and Vehicle Control", Proceedings of Oceans '95, San Diego, CA, MTS/IEEE, pp. 1208-1215, October, 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 Coordinated Control of an Underwater Arm/Vehicle System", Journal of Autonomous Robots, vol. 3, no. 2 and 3, 1996.
"Experimental Measurement of ROV Tether Tension", Proceedings of Intervention/ROV '92, San Diego, CA, IEEE, pp. 291-296, June, 1992.
"Development and Experimental Validation of an Underwater Manipulator Hydrodynamic Model", International Journal of Robotics Research, vol. 17, no. 7, pp. 748-759, 1998.
"AUV Terrain Relative Navigation Using Coarse Maps", Proceedings of the 2009 Unmanned Untethered Submersible Technology Conference, Durham, NH, August, 2009.
"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.
"Closed-Loop Terrain Relative Navigation for AUVs with Non-Inertial Grade Navigation Sensors", IEEE-OES Autonomous Underwater Vehicles Conference (AUV), Monterey, CA, 09/2010.
"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.
"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.
"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.
"Real-time Dynamic Trajectory Optimization", Proceedings of the AIAA Guidance, Navigation and Control Conference, Reston, VA, July, 1996.
"Control of a Climbing Robot using Real-Time Convex Optimization", Proceedings of the IFAC Symposium on Mechatronic Systems, September, 2006.
"Navigation for Performing Visual Surveys of Non-Planar Surfaces", Proceedings of AIAA Guidance, Navigation, and Control Conference, 2009.
"A Trajectory Optimization Method for Close Range Surveys of Non-Planar Surfaces", Aeronautics & Astronautics, vol. Ph.D.: Stanford University, pp. 104, 03/2012.
"Spline-based Trajectory Planning Techniques for Benthic AUV Operations", Proceedings of IEEE Autonomous Underwater Vehicles Conference, 2010.
"Performing Visual Surveys of Non-Planar Benthic Terrain", Proceedings of Unmanned Untethered Submersible Technology Conference, 2009.
"Tumbling Target Reconstruction and Pose Estimation through Fusion of Monocular Vision and Sparse-Pattern Range Data", IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Hamburg, Germany, 09/2012.