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"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 1997 International Aerial Robotics Competition", AUVSI '97 Proceedings: Stanford University Aerospace Robotics Lab, July, 1997.
"Combined CDGPS and Vision-Based Control of a Small Autonomous Helicopter", Proceedings 1998 American Control Conference, Philadelphia, PA, American Automatic Control Council, June, 1998.