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"Video Mosaicking Along Arbitrary Vehicle Paths",
Proceedings of the Symposium on Autonomous Underwater Vehicle Technology, Monterey, CA, OES/IEEE, pp. 293-299, June, 1996.
"OTTER: The Design and Development of an Intelligent Underwater Robot",
Autonomous Robots, vol. 3, no. 2-3, pp. 297-320, June-July, 1996.
"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.
"Carrier Phase GPS and Computer Vision for the Control of an Autonomous Helicopter",
Proceedings of the Institute of Navigation GPS-96 Conference, Kansas City, MO, pp. 461-465, September, 1996.
"Technologies for Spacecraft Formation Flying",
Proceedings of the Institute of Navigation GPS-96 Conference, Kansas City, MO, pp. 1321-1330, September, 1996.
"A Contestant in the 1997 International Aerial Robotics Competition",
AUVSI '97 Proceedings: Stanford University Aerospace Robotics Lab, July, 1997.
"Global Position Determination and Vehicle Path Estimation from a Vision Sensor for Real-Time Video Mosaicking and Navigation",
Proceedings of the OCEANS 97 Conference, Halifax, Nova Scotia, MTS/IEEE, October, 1997.
"Station Keeping of an ROV Using Vision Technology",
Proceedings of the OCEANS 97 Conference, Halifax, Nova Scotia, MTS/IEEE, October, 1997.
"GPS Sensing for Spacecraft Formation Flying",
Proceedings of the Institute of Navigation GPS-97 Conference, Kansas City, MO, September, 1997.
"Development and Experimental Validation of an Underwater Manipulator Hydrodynamic Model",
International Journal of Robotics Research, vol. 17, no. 7, pp. 748-759, 1998.
"Combined CDGPS and Vision-Based Control of a Small Autonomous Helicopter",
Proceedings 1998 American Control Conference, Philadelphia, PA, American Automatic Control Council, June, 1998.
"Formation Sensing and Control Technologies for a Separated Spacecraft Interferometer",
Proc. of the 1998 American Control Conference, Philadelphia, PA, June, 1998.
"Human-Robot Interaction for Field Operation of an Autonomous Helicopter",
Mobile Robots XIII and Intelligent Transportation Systems, vol. 3525, Boston, MA, SPIE, pp. 244-252, November, 1998.
"Experimental Validation of a Real-Time Vision Sensor and Navigation System for Intelligent Underwater Vehicles",
1998 IEEE Conference on Intelligent Vehicles, Stuttgart, Germany, IEEE, pp. 201-206, October, 1998.
"Demonstration of a Vision-Based Dead-Reckoning System for Navigation of an Underwater Vehicle",
Proceedings of the OCEANS 98 Conference, Nice, France, IEEE, September, 1998.
"Model Development of an Underwater Manipulator for Coordinated Arm-Vehicle Control",
Proceedings of the OCEANS 98 Conference, Nice, France, IEEE, September, 1998.
"Spacecraft Formation Flying Control Design for the Orion Mission",
Proc. of the 1999 AIAA GNC Conference, Portland, OR, AIAA, August, 1999.
"GPS Pseudolite Transceivers and their Applications",
Proceedings of the 1999 Institute of Navigation National Technical Meeting, San Diego, CA, January, 1999.
"Formation Control Strategies for a Separated Spacecraft Interferometer",
Proc. of the 1999 American Controls Conference, San Diego, CA, ACC, June, 1999.
"Self-Calibration of Pseudolite Arrays Using Self-Differencing Transceivers",
Proceedings of the Institute of Navigation GPS-99 Conference, Nashville, TN, pp. 1549-1558, September, 1999.
"Kinodynamic Motion Planning Amidst Moving Obstacles",
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA, April, 2000.
"Field Test Results for a Self-Calibrating Pseudolite Array",
Proceedings of the Institute of Navigation GPS-2000 Conference, Salt Lake City, UT, pp. 1046-1055, September, 2000.
"A Local-Area GPS Pseudolite-Based Mars Navigation System",
Proceedings of the IEEE 10th International Conference on Advanced Robotics, Budapest, Hungary, August, 2001.
"A Low Energy Sensor for AUV-Based Jellyfish Tracking",
12th International Symposium on Unmanned Untethered Submersible Technology, Durham, NH, AUSI, August, 2001.
"Relative Position Estimation for Intervention-Capable AUVs by Fusing Vision and Inertial Measurements",
Proceedings of the 12th International Symposium on Unmanned Untethered Submersible Technology, Durham, NH, Autonomous Undersea Systems Institute, August, 2001.