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Meduna, D., S. M. Rock, and R. McEwen, "AUV Terrain Relative Navigation Using Coarse Maps", Proceedings of the 2009 Unmanned Untethered Submersible Technology Conference, Durham, NH, August, 2009.
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Kimball, P., and S. M. Rock, "Sonar-Based Iceberg-Relative AUV Localization", UUST: Unmanned Untethered Submersible Technology, Durham, NH, Autonomous Undersea Systems Institute, August, 2009.