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L. L. Whitcomb and Yoerger, D. R., Comparative experiments in the dynamics and model-based control of marine thrusters, in Oceans '95 : "Challenges of our changing global environment" : conference proceedings, October 9-12, 1995, San Diego, California, vol. 2, San Diego, Calif.: Oceans '95 MTS/IEEE Conference Committee, 1995, pp. 1019–1028.
L. L. Whitcomb and Yoerger, D. R., Preliminary experiments in model-based thruster control for underwater vehicle positioning, IEEE Journal of Oceanic Engineering, vol. 24, pp. 495–506, 1999.
L. L. Whitcomb and Yoerger, D. R., A new distributed real-time control system for the Jason underwater robot, in IROS '93: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems: Intelligent Robots for Flexibility, vol. 1, New York, N.Y.: IEEE, 1993, pp. 368–374.
L. L. Whitcomb and Yoerger, D. R., Development, comparison and preliminary experimental validation of nonlinear dyanmic thruster models, IEEE Journal of Oceanic Engineering, vol. 24, pp. 481–494, 1999.