“Modeling and control of an autonomous underwater vehicle with combined foil/thruster actuators”, Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution, Cambridge, MA and Woods Hole, MA, 2003.
, “Stochastic mapping for chemical plume source localization with application to autonomous hydrothermal vent discovery”, Massachusetts Institutte of Technology and Woods Hole Oceanographic Institution, Cambridge, Mass. and Woods Hole, Mass., 2007.
,