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“Preliminary experiments in model-based thruster control for underwater vehicle positioning”, IEEE Journal of Oceanic Engineering, vol. 24, pp. 495–506, 1999.
, “Precise navigation and control of an ROV at 2200 meters depth”, in Intervention/ROV '92 conference {&} exposition, San Diego, Calif.: Intervention/ROV 92 Committee of the Marine Technology Society, 1992, pp. 277–281.
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