"Frequency-Weighted State Estimation with Application to Estimation in the Presence of Sensor Bias",
IEEE Transactions on Control Systems Technology, vol. 4, no. 4, pp. 427-436, July, 1996.
"Real-time Dynamic Trajectory Optimization",
Proceedings of the AIAA Guidance, Navigation and Control Conference, Reston, VA, July, 1996.
"An Interactive Operator Interface for Task-Level Direction of a Robot in Uncertain Environments",
Proceedings of the 2nd ASCE Conference on Robotics for Challenging Environments, Albuquerque, NM, pp. 50-56, June, 1996.
"Experiments in the Hydrodynamic Modeling of an Underwater Manipulator",
Symposium on Autonomous Underwater Vehicle Technology: IEEE, pp. 463-469, June, 1996.
"The Limitations of Independent Controller Design for a Multiple-Link Flexible Macro-Manipulator Carrying a Rigid Mini-Manipulator",
Proceedings of the 2nd ASCE Conference on Robotics for Challenging Environments, Albuquerque, NM, pp. 93-99, June, 1996.
"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.
Experiments in Semi-Autonomous Underwater Intervention Robotics,
, Stanford, CA 94305, Stanford University, November, 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 General Contact Model for Dynamically-Decoupled Force/Motion Control",
Preprints of the ISER Proceedings, 1997.
Real-Time Dynamic Trajectory Optimization with Application to Free-Flying Space Robots,
, Stanford, CA 94305, Stanford University, December, 1997.
"A Contestant in the 1997 International Aerial Robotics Competition",
AUVSI '97 Proceedings: Stanford University Aerospace Robotics Lab, July, 1997.
Manipulation of a Free-Floating Object Using a Macro/Mini-Manipulator With Structural Flexiblity,
, Stanford, CA 94305, Stanford University, July, 1997.
A Real-Time Human Perception Interface for Task-Level Control of a Robot in Unfamiliar Environments,
, Stanford, CA 94305, Stanford University, June, 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.
"Space Construction: An Experimental Testbed to Develop Enabling Technologies",
Telemanipulator and Telepresence Technologies IV, Pittsburg, PA, 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.
"Uncertainty Model Unfalsification With Simulation",
Proceedings 1998 American Control Conference, Philadelphia, PA, American Automatic Control Council, 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.