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"Navigation for Performing Visual Surveys of Non-Planar Surfaces", Proceedings of AIAA Guidance, Navigation, and Control Conference, 2009.
"Spline-based Trajectory Planning Techniques for Benthic AUV Operations", Proceedings of IEEE Autonomous Underwater Vehicles Conference, 2010.
"A Trajectory Optimization Method for Close Range Surveys of Non-Planar Surfaces", Aeronautics & Astronautics, vol. Ph.D.: Stanford University, pp. 104, 03/2012.
"Performing Visual Surveys of Non-Planar Benthic Terrain", Proceedings of Unmanned Untethered Submersible Technology Conference, 2009.