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"OTTER: The Design and Development of an Intelligent Underwater Robot", Autonomous Robots, vol. 3, no. 2-3, pp. 297-320, June-July, 1996.
"Automatic Visual Station Keeping of an Underwater Robot", Proceedings of IEEE Oceans 94 Osates, Brest, France, IEEE, September, 1994.
"Combined Camera and Vehicle Tracking of Underwater Objects", Proceedings of Intervention/ROV '92, San Diego, CA, June, 1992.
"Cooperative research in underwater robot mission-level programming methodologies", Proceedings of IARP Sixth Workshop on Underwater Robotics, Toulon-La Seyne, France, Internation Advanced Robotics Program, March, 1996.
"Experiments in the Automatic Retrieval of Underwater Objects with an AUV", Proceedings of Oceans '95, San Diego, CA, MTS/IEEE, pp. 366-373, October, 1995.
"Joint Evaluation of Mission Programming for Underwater Robots", Proceedings of IEEE International Conference on Robotics and Automation, Minneapolis, MN, IEEE, pp. 2492-2497, April, 1996.
"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.
"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.
"Video Mosaicking Along Arbitrary Vehicle Paths", Proceedings of the Symposium on Autonomous Underwater Vehicle Technology, Monterey, CA, OES/IEEE, pp. 293-299, June, 1996.