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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.
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.