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BathyBoat: an autonomous surface vessel for stand-alone survey and underwater vehicle network supervision. Marine Technology Society Journal. 44:20-29.. 2010.
An overview of autonomous underwater vehicle research and testbed at PeRL. Marine Technology Society Journal. 43(2):33-47.. 2009.
Development of a multi-AUV SLAM testbed at the University of Michigan. OCEANS 2008. :1-6.. 2008.