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, “Techniques for deep sea near bottom survey using an autonomous underwater vehicle”, International Journal of Robotics Research, vol. 26, pp. 41–54, 2007.
, “Teleprogramming for subsea teleoperation using acoustic communication”, IEEE Journal of Oceanic Engineering, vol. 23, pp. 60–71, 1998.
, “Thickness of a submarine lava flow determined from near-bottom magnetic field mapping by autonomous underwater vehicle”, Geophysical Research Letters, vol. 25, pp. 805–808, 1998.
, “Transputer-based distributed processing for underwater robotic vehicle control”, in 1991 American Control Conference Proceedings. Boston, June 26-28, 1991, vol. 1, New York: IEEE, 1991, pp. 389–397.