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"Development of virtual reality testbed and AUV control architecture for coastal/shallow water environments",
Proceedings of the Coastal Ocean Space Utilization 1997 Conference (COSU ’97), vol. 2, pp. 305–320, May, 1997.
"Control architectures for autonomous underwater vehicles",
IEEE Control Systems Magazine, vol. 17, pp. 48–64, December, 1997.
"A virtual reality environment for real-time tele-robot control: The AdeptOne/AdeptThree case study",
Proceedings of the 4th IEEE Mediterranean Symposium on New Directions in Control & Automation, Maleme, Chania, Crete, Greece, June, 1996.