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"Task-Based Control Architecture for an Untethered, Unmanned Submersible", Proceedings of the 8th Annual Symposium of Unmanned Untethered Submersible Technology, Marine Systems Engineering Laboratory, Northeastern University, pp. 137-147, September, 1993.
"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.
"Combined Camera and Vehicle Tracking of Underwater Objects", Proceedings of Intervention/ROV '92, San Diego, CA, June, 1992.
"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.