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"Low-Cost Terrain Relative Navigation for Long-Range AUVs", Proceedings of the OCEANS 2008 MTS/IEEE QUEBEC Conference, Quebec City, Canada, September, 2008.
"AUV Terrain Relative Navigation Using Coarse Maps", Proceedings of the 2009 Unmanned Untethered Submersible Technology Conference, Durham, NH, August, 2009.
"Terrain relative navigation for sensor-limited systems with application to underwater vehicles", Aeronautics & Astronautics, vol. Ph.D.: Stanford University, pp. 183, 08/2011.