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IEEE Journal of Oceanic Engineering > 2017 > 42 > 4 > 770 - 781
IEEE Transactions on Robotics > 2017 > 33 > 2 > 390 - 405
IEEE Transactions on Aerospace and Electronic Systems > 2016 > 52 > 4 > 1555 - 1567
IEEE Journal of Oceanic Engineering > 2012 > 37 > 1 > 122 - 138