Received: from SOUTH-STATION-ANNEX.MIT.EDU by po8.MIT.EDU (5.61/4.7) id AA18884; Tue, 13 Jul 99 15:50:50 EDT
Received: from ALBACORE.MIT.EDU by MIT.EDU with SMTP
	id AA01364; Tue, 13 Jul 99 15:48:27 EDT
Received: (from jleonard@localhost) by albacore.mit.edu (980427.SGI.8.8.8/980728.SGI.AUTOCF) id PAA02416; Tue, 13 Jul 1999 15:50:02 -0700 (EDT)
Date: Tue, 13 Jul 1999 15:50:02 -0700 (EDT)
Message-Id: <199907132250.PAA02416@albacore.mit.edu>
From: John Leonard <jleonard@albacore.mit.edu>
To: abennett@MIT.EDU



@string{ijrr="Int. J. Robotics Research"}
@article(Hatch92,
author = "Hatch, R. R. and Luber, J. L. and Walker, J. H.",
title = "Fifty years of strike warfare at the {A}pplied {P}hysics {L}aboratory",
journal = "Johns Hopkins APL: Technical Digest",
volume = "13",
number = "1",
pages = "113-124",
month = "January-March",
year = 1992)

@string{ieeera="{IEEE} J. Robotics and Automation"}
@string{ieeetra="{IEEE} Trans. Robotics and Automation"}
@string{ieeesmc="{IEEE} Trans. Systems Man and Cybernetics"}
@string{ieeeac="{IEEE} Trans. Automatic Control"}
@string{ieeejoe="{IEEE} J. Ocean Engineering"}
@string{ieeesmc="{IEEE} Trans. Systems, Man, and Cybernetics"}
@string{ieeepami="{IEEE} Trans. Pattern Analysis and Machine
Intelligence"}
@string{JRS = {Journal of Robotic Systems}}
@string{ieeeaes="{IEEE} Trans. Aerospace and Electronic Systems"}
@string{isrr1="First Int. Symp. Robotics Research"}
@string{isrr2="Second Int. Symp. Robotics Research"}
@string{isrr3="Third Int. Symp. Robotics Research"}
@string{isrr4="Fourth Int. Symp. Robotics Research"}
@string{ieeeicra="Proc. {IEEE} Int. Conf. Robotics and Automation"}
@string{iros="Proc. {IEEE} Int. Workshop on Intelligent Robots and Systems"}
@string{ijcai="Int. Joint Conf. Artificial Intelligence"}
@string{upenncis="U. of Pennsylvania Dept. Comp. Sci."}
@string{ourrg="Oxford U. Robotics Research Group"}
@string{ijmms="Int. J. Man-Machine Studies"}
@string{cvgip="Computer Vision Graphics and Image Processing"}
@string{cviu="Computer Vision and Image Understanding"}
@string{sifir="Int. Workshop on Sensorial Integration for Industrial Robots"}
@string{iccv="Proc. Int. Conference on Computer Vision"}
@string{jasa="J. Acoustical Society of America"}
@string{uust="Proc. Int. Symp. on Unmanned Untethered Submersible Technology"}
@string{spieaor="Proc. {SPIE} Conference on Automatic Object Recognition"}

@misc(VSWSZMCMwww,
author = "Office of Naval Research",
title = "Very Shallow Water and Surf Zone {MCM}",
howpublished ="http://www.onr.navy.mil/sci\_tech/ocean/info/VSWSZMCM/",
month = "March",
year = "1998")








@inproceedings( abrahamsson91,
author = "S. Abrahamsson and B. Brusmark and G. Gaunnaurd and H.
Strifors",
title = "Target Indentification by Means of Impulse Radar",
booktitle = spieaor,
pages = "130-141",
volume = "1471",
address = "Orlando, FL",
year = "1991")

@inproceedings( abramson91,
author = "M. Abramson",
title = "A Localization Algorithm/Map Matching Approach for Underwater Vehicle
Navigation",
booktitle = "Sensor and Navigation Issues for Unmanned Underwater Vehicles",
organization = "{MIT} Sea Grant Marine Industry Collegium",
address = "Cambridge, MA",
month = "January",
year = "1991")

@ARTICLE( abutaleb86,
AUTHOR = "A. S. Abutaleb",
TITLE = "Target Image Tracking Using a Nonlinear Filter Based on Pontryagin Minimum Principle",
JOURNAL = "{IEEE} Transactions on Automatic Control",
VOLUME = "AC-31",
NUMBER = "12",
PAGES = "1170-1173",
MONTH = "December",
YEAR = "1986" )

@article( achenback77,
author = "J. Achenbach and A. Gautesen",
title = "Geometrical Theory of Diffraction for Three-{D}
Elastodynamics",
journal = jasa.,
volume = "61",
number = "2",
month = "February",
year = "1977",
pages = "413-421")

@INPROCEEDINGS( adams89,
AUTHOR = "M. Adams and P. Probert",
TITLE = "A Layered Control System for a Caterpillar Tracked Vehicle",
BOOKTITLE = "{IEE} Colloquim on Off-Highway Vehicle Control Systems",
ADDRESS = "London",
YEAR = "1989" )

@book( albers72,
author = "V. M. Albers (Editor)",
title =  "Underwater Sound",
publisher = "Stroudsberg, PA: Dowden, Hutchinson, and Ross, Inc",
year = "1972")

@inproceedings( albus82,
author = "J. Albus and C. McLean and A. Barbera and M. Fitzgerald",
title = "An Architecture for Real-Time Sensory-Interactive Control of Robots in a
Manufacturing Environment",
booktitle = "4th IFAC/IFIP Symposium on Information Control Problems in Manufacturing
Technology",
month = "October",
year = "1982")
       
@inproceedings( albus87,
author = "J. Albus and D. Blidberg",
title = "A Control System Architecture for Multiple Autonomous Undersea Vehicles ({MAUV})",
booktitle = uust,
year = "1987",
pages = "444-466")

@INCOLLECTION( alexander90,
AUTHOR = "J. Alexander and J. Maddocks",
TITLE = "On the Kinematics of Wheeled Mobile Robots",
BOOKTITLE = "Autonomous Robot Vehicles",
EDITOR = "I. J. Cox and G. T. Wilfong",
PUBLISHER = "Springer-Verlag",
YEAR = "1990" )

@book( allen87,
author = "P. K. Allen",
title = "Robotic Object Recognition Using Vision and Touch",
publisher = "Boston: Kluwer Academic Publishers",
year = "1987")

@book( aloimonos89,
author = "J. Aloimonos and D. Shulman",
title = "Intergration of Visual Modules: An Extension of the {M}arr
Paradigm",
year = "1989",
publisher = "Boston: Academic Press")



@incollection( altes80,
author = "R. A. Altes",
title = "Models for Echolocation",
editor = "G. Busnel and J. Fish",
booktitle = "Animal Sonar Systems",
publisher = "New York: Plenum Press",
pages = "625-671",
year = "1980",
hayden_call_number= "QP469")

@incollection( altes86,
author = "R. A. Altes",
title = "Texture Analysis with Spectrograms",
editor = "H. Lee and G. Wade",
booktitle = "Modern Acoustical Imaging",
publisher = "{IEEE} Press",
pages = "394-404",
note = "Reprinted from {\em IEEE Trans.\ Sonics Ultrason.}, Vol.\ SU-31, pp.\ 407-417, July 1984",    
year = "1986")

@inproceedings( altes87,
author = "R. A. Altes",
title = "Bioacoustic systems: Insights for acoustical imaging and
pattern recognition",
booktitle = "SPIE International Symposium on Pattern Recognition and
Acoustical Imaging",
volume = "768",
pages = "61-68",
year = "1987")

@article( ambrose97,
author = "S. Ambrose and C. Amon",
title = "Systematic design of a first-year mechanical engineering
course at {Carnegie Mellon University}",
journal = "Journal of Engineering Education",
volume = "86",
number = "2",
pages = "1763-181",
year = "1997" )

@inproceedings( an96,
author = "P.E. An and  A.J. Healey and S.M. Smith and S.E. Dunn",
title = "New Experimental Results on {GPS/INS} Integration using {Ocean} {Voyager} {II} {AUV}",
booktitle = "AUV 96",
pages = "249-255",
month = "June", 
year = "1996")

@inproceedings( anaya89,
AUTHOR = "J. Anaya-Velayos and J. Martin-Abreu and C. Yusta",
TITLE =  "A Comparative Study of Several Approaches for High Accuracy
Range Measurements Using Ultrasonic Sensors",
BOOKTITLE = sifir,
ADDRESS = "Zaragoza, Spain",
PAGES = "343-345",
YEAR = "1989" )

@book( anderberg73,
author = "M. R. Anderberg",
title = "Cluster Analysis for Applications",
publsher = "New York: Academic Press",
year = "1973")

@INPROCEEDINGS( anderson90,
AUTHOR = "T. Anderson and M. Donath",
TITLE = "Autonomous Robots and Emergent Behavior: A Set of Primitive
Behaviors for Mobile Robot Control",
BOOKTITLE = iros,
PAGE = "723",
YEAR = "1990" )

@ARTICLE( andersson85,
AUTHOR = "R. L. Andersson",
TITLE = "Real-Time Gray-Scale Video Processing Using a Moment-Generating Chip",
JOURNAL = "{IEEE} Journal of Robotics and Automation",
VOLUME = "RA-1",
NUMBER = "2",
MONTH = "June",
YEAR = "1985" )


@BOOK( andersson88,
AUTHOR = "R. L. Andersson",
TITLE = "A Robot Ping-Pong Player",
PUBLISHER = "MIT Press",
YEAR = "1988" )

@ARTICLE( andersson89,
AUTHOR = "R. L. Andersson",
TITLE = "Dynamic Sensing in a Ping-Pong Playing Robot",
JOURNAL = "{IEEE} Journal of Robotics and Automation",
VOLUME = "5",
NUMBER = "6",
MONTH = "December",
PAGES = "728-739",
YEAR = "1989" )

@book( appleyard88,
author = "S. Appleyard and R. Linford and P. Yarwood",
title = "Marine Electronic Navigation",
publisher = "London: Routledge and Kegan Paul",
year = "1988")

@INPROCEEDINGS( arbib71,
AUTHOR = "M. A. Arbib",
TITLE = "Transformations and Somatotopy in Perceiving Systems",
BOOKTITLE = "Internation Joint Conference on Artificial Intelligence",
PAGES = "140-147",
YEAR = "1971" )

@article( arkin89,
author = "R. Arkin",
title = "Motor-Schema-Based Mobile Robot Navigation",
journal = ijrr,
volume = "8",
number = "4",
year = "1989" )

@article( arkin97,
author = "R. Arkin and K. Lee and L. McGinnis and C. Zhou",
title = "The development of a shared interdisciplinary intelligent
mechatronics laboratory",
journal = "Journal of Engineering Education",
volume = "86",
number = "2",
pages = "113-118",
year = "1997" )

@ARTICLE{article:julier96,
	AUTHOR="S. J. Julier{, J. K. Uhlmann and H. F. Durrant-Whyte}",
	TITLE="{A New Approach for the Nonlinear Transformation of
Means and Covariances in Linear Filters}",
	NOTES="Accepted for publication as a Technical Note.",
	JOURNAL="IEEE Transactions on Automatic Control",
	YEAR="1996"	}


@book( asada86,
author = "H. Asada and J-J. Slotine",
title = "Robot Analysis and Control",
publisher = "J. Wiley and Sons",
address = "New York",
year = "1986")

@book( asme93,
author = "International Forum on Dimensional Tolerancing and
Metrology",
title = "Proceedings of the 1993 International Forum on Dimensional
Tolerancing and Metrology",
address = "Deerborn, Michigan",
date = "June 17-19",
publisher = "The American Society of Mechanical Engineers",
year = "1993")

@INPROCEEDINGS( atwood95,
AUTHOR = "D. K. Atwood and J. J.  Leonard and J. G. Bellingham and B.
A. Moran",
TITLE = "An Acoustic Navigation System for Multiple Vehicles",
BOOKTITLE = uust,
pages = "202-208",
MONTH = "September",
YEAR = "1995" )

@incollection( au90,
author = "W. Au",
title = "Target Detection in Noise by Echolocating Dolphins",
editor = "J. A. Thomas and R. A. Kastelein",
booktitle = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
pages = "203-216",
year = "1990")

@book( au93,
author = "W. Au",
title = "The Sonar of Dolphins",
publisher = "New York: Springer-Verlag",
year = "1993")

@inproceedings( audenaert92,
author = "K. Audenaert and H. Peremans and Y. Kawahara and J. Van Campenhout",
title = "Accurate Ranging of Multiple Objects using Ultrasonic Sensors",
booktitle = ieeeicra,
address = "Nice,
 France",
month = "May",
pages = "1733-1738",
year = "1992")

@misc( auvresource98,
author = "Autonomous Underwater Vehicles Resource",
title = "{http://www.acim.usl.edu/~maja/AUV/AUV-list.html}",
year = "1998")

@incollection( awbrey90,
author = "F. T. Awbrey",
title = "Concluding Comments on Cetacean Hearing and Echolocation",
editor = "J. A. Thomas and R. A. Kastelein",
booktitle = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
pages = "427-433",
year = "1990")

@INPROCEEDINGS( ayache87,
AUTHOR = "N. Ayache and O. Faugeras",
TITLE = "Building, Registrating, and Fusing Noisy Visual Maps",
BOOKTITLE = "International Conference on Computer Vision",
PAGE = "73",
MONTH = "June",
YEAR = "1987" )

@ARTICLE( ayache88,
	AUTHOR = "N. Ayache and O. Faugeras",
	TITLE = "Building, Registrating, and Fusing Noisy Visual Maps",
	journal=ijrr,
	volume=7,
	number=6,
	pages="45-65",
	year=1988
	)

@ARTICLE( ayache89,
	AUTHOR = "N. Ayache and O. Faugeras",
	TITLE = "Maintaining Representations of the Environment of a Mobile Robot",
	journal=ieeetra,
	volume=5,
	number=6,
	pages="804-819",
	year=1989
	)

@INCOLLECTION( ayache89cw,
	AUTHOR = "N. Ayache and O. Faugeras",
	TITLE = "Maintaining Representations of the Environment of a Mobile Robot",
	booktitle = "Autonomous Robot Vehicles",
	editor = "I. J. Cox and G. T. Wilfong",
	publisher = "Springer-Verlag",
	pages="205-220",
	year=1990
	)

@inproceedings( aymebellegarda91,
author = "E. Ayme-Bellegarda and Tarek Habashy and J. Bellagarda",
title = "Automatic Recognition of Multidimensional Objects Buried in
Layered Elastic Background Media",
booktitle = spieaor,
pages = "18-29",
volume = "1471",
address = "Orlando, FL",
year = "1991")

@incollection( azzali90,
author = "M. Azzali and G. Buracchi",
title = "Preliminary Notes on Behaviour of a Blindfolded Free-swimming
Dolphin Performing a Target Echolocation Task in a Pool",
editor = "J. A. Thomas and R. A. Kastelein",
booktitle = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
pages = "217-232",
year = "1990")

@incollection( baggeroer78,
title = "Sonar Signal Processing",
author = "A. B. Baggeroer",
booktitle = "Applications of Digital Signal Processing",
editor = "Alan V. Oppenheim",
publisher = "Englewood Cliffs, NJ: Prentice-Hall",
pages = "331-437",
year = "1978")

		  

@article( baggeroer84,
author = "A. B. Baggeroer",
title = "Acoustic Telemetry --- An Overview",
journal = ieeejoe,
month = "October",
volume = "{OE}-9",
number = "4",
pages = "229-235",
year = "1984")


@article( baggeroer88,
author = "A. B. Baggeroer and W. A. Kuperman and H. Schmidt",
title = "Matched Field Processing: Source Localization in Correlated
Noise as an Optimum Parameter Estimation Problem",
journal = jasa,
volume = "83-2",
pages = "571-587",
month = "February",
year = "1988")

@ARTICLE( bahill86,
AUTHOR = "A. T. Bahill and D. R. Harvey",
TITLE = "Open-Loop Experiments for Modeling the Human Eye Movement System",
JOURNAL = "{IEEE} Transactions on Systems, Man, and Cybernetics",
VOLUME = "SMC-16",
NUMBER = "2",
MONTH = "March/April",
YEAR = "1986" )

@inproceedings( bajaj95,
author = "C. L. Bajaj and F. Bernardini and G. Xu",
title = "Automatic Reconstruciton of Surfaces and Scalar Fields from
3D Scans",
booktitle = "Computer Graphics Proceedings, Annual Conference Series",
publisher = "ACM SIGGRAPH",
pages = "109-118",
year = "1995")


@INCOLLECTION( bajcsy87,
AUTHOR = "R. Bajcsy and C. Tsikos",
TITLE = "Perception via Manipulation",
BOOKTITLE = "4th International Symposium on Robotics Research",
PUBLISHER = "MIT Press",
PAGES = "237-244",
YEAR = "1987" )


@article( bajcsy88,
        AUTHOR = "Bajcsy, R. K.",
        TITLE = "Active Perception",
        JOURNAL = "Proceedings of the IEEE",
        VOLUME = "76",
        YEAR = "1988",
        NUMBER = "8",
        MONTH = "August",
        PAGES = "996-1005"
)

@techreport( baker77,
author = "W. Baker and R. Clem",
title = "Terrain Contour Matching (TERCOM) Primer",
organization = "Aeronautical Systems Division, Wright-Patterson {AFB},
Ohio",
month = "August",
year = "1977")
		  
@book( balakrishnan87,
author = "A. V. Balakrishnan",
title = "Kalman Filtering Theory",
publisher = "Optimization Software, Inc.",
year = "1987")


@BOOK( ballard82,
AUTHOR = "D. Ballard and C. Brown",
TITLE = "Computer Vision",
PUBLISHER = "Prentice-Hall",
YEAR  = "1982" )

@misc( ballard96,
author = "R. Ballard",
title = "Soundings: The {N}ewsletter of the {JASON} {P}roject for
{E}ducation, {W}altham, {MA},
{http://seawifs.gsfc.nasa.gov/scripts/JASON.html}", 
year = "1996")

@misc( ballard98,
author = "R. Ballard",
title = "{\tt http://www.jasonproject.org}",
year = "1998")

@inproceedings( bamber87,
author = "J. C. Bamber and G. Cock-martin",
title = "Texture analysis and speckle reduction in medical echography",
booktitle = "SPIE International Symposium on Pattern Recognition and
Acoustical Imaging",
volume = "768",
pages = "120-127",
year = "1987")

@techreport( barber91,
	key="Barber",
	author="M. Barber and R. Jinkerson",
	title="Design of a Deep Depth High Endurance Autonomous
		Underwater Vehicle",
	note="(13.461 Projects in New Construction Naval Ship Design)",
	institution="Massachusetts Institute of Technology, Department
		of Ocean Engineering",
	date="May 30",	
	year=1991)

@article( bardis90,
author = "L. Bardis and N. M. Patrikalakis",
title = "Surface Approximation with Rational B-Splines",
journal = "Engineering with Computers",
volume = "6",
number = "4",
pages = "223-235",
year = "1990")

@techreport( bardis91,
	key="Bardis",
	author="L. Bardis and N. M. Patrikalakis",
	title="Topological Structures for Generalized Boundary
		Representations",
	institution="Massachusetts Institute of Technology, Ocean
		Engineering Design Laboratory",
	type="Memorandum",
	number="91-18",
note = "In preparation",
	year=1991)

@inproceedings(bares97,
author = "J. E. Bares and D. S. Wettergreen",
title = "Lessons from the Development and Deployment of {D}ante {II}",
booktitle = "International Conference on Field and Service Robotics",
publisher = "Panther Publishing and Printing",
pages = "72--79",
address = "Canberra, Australia",
year = "1997")


@inproceedings( barnes87,
author = "C. W. Barnes and R.J. Pisa and O. Ishrak",
title = "Signal processing models in medical ultrasound",
booktitle = "SPIE International Symposium on Pattern Recognition and
Acoustical Imaging",
volume = "768",
pages = "7-18",
year = "1987")


@INCOLLECTION( barniv90,
AUTHOR = "Y. Barniv",
TITLE = "Dynamic Programming Algorithm for Detecting Dim Moving Targets",
BOOKTITLE = "Multitarget-Multisensor Tracking: Advanced Applications",
editor = "Y. Bar-Shalom",
PUBLISHER = "Boston: Artech House",
PAGES = "85-154",
YEAR = "1990" )

@phdthesis( barrett96,
author = "D. S. Barrett",
title = "Propulsive Efficiency of a Flexible Hull Underwater Vehicle",
school = "Massachusetts Institute of Technology",
year = "1996")

@ARTICLE( barshalom78,
AUTHOR = "Y. Bar-Shalom",
TITLE = "Tracking Methods in a Multi-Target Environment",
JOURNAL = "{IEEE} Transactions on Automatic Control",
VOLUME = "AC-23",
NUMBER = "4",
MONTH = "August",
PAGES = "618-626",
YEAR = "1978" )

@BOOK( barshalom88,
AUTHOR = "Y. Bar-Shalom and T. E. Fortmann",
TITLE = "Tracking and Data Association",
PUBLISHER = "Academic Press",
YEAR = "1988" )

@BOOK( barshalom90,
EDITOR = "Y. Bar-Shalom",
TITLE = "Multitarget Multisensor Tracking: Advanced Applications, Volume {I}",
PUBLISHER = "Boston: Artech House",
YEAR = "1990" )

@INCOLLECTION( barshalom90b,
AUTHOR = "Y. Bar-Shalom and K.C. Chang and H.A.P. Blom",
TITLE = "Automatic Track Formation in Clutter with a Recursive Algorithm",
BOOKTITLE = "Multitarget-Multisensor Tracking: Advanced Applications",
editor = "Y. Bar-Shalom",
PUBLISHER = "Boston: Artech House",
PAGES = "25-42",
YEAR = "1990" )

@BOOK( barshalom92,
EDITOR = "Y. Bar-Shalom",
TITLE = "Multitarget Multisensor Tracking: Advanced Applications,
Volume {II}",
PUBLISHER = "Boston: Artech House",
YEAR = "1992" )

@Book{barshalom93,
  author = 	 {Y. Bar-Shalom and X. R. Li},
  title = 	 {Estimation and Tracking: Principles, Techniques, and Software},
  publisher = 	 {Artech House},
  year = 	 1993
}

@BOOK( barshalom95,
AUTHOR = "Y. Bar-Shalom and X. R. Li",
TITLE = "Multitarget Multisensor Tracking: Principles and Techniques",
PUBLISHER = "Storrs, CT: YBS Press",
YEAR = "1995" )

@PhdThesis{barshan91,
  author = 	 {Barshan, Billur},
  title = 	 { A sonar-based mobile robot for bat-like prey capture },
  school = 	 {Yale University},
  year = 	 {1991}
}


@ARTICLE( barshan90,
AUTHOR = "B. Barshan and R. Kuc",
TITLE = "Differentiating Sonar Reflections from Corners and Planes by
Employing an Intelligent Sensor",
JOURNAL = "{IEEE} Transactions on Pattern Analysis and Machine Intelligence",
VOLUME = "PAMI-12",
NUMBER = "6",
PAGES = "560-569",
MONTH = "June",
YEAR = "1990" )

@inproceedings( barshan92,
author = "B. Barshan and R. Kuc",
title = "{ROBAT}: A Sonar-based Mobile Robot for Bat-Like Prey Capture",
booktitle = ieeeicra,
address = "Nice,France",
month = "May",
pages = "274-279",
year = "1992")

@book( bartholomew90,
author = "C. A. Bartholomew",
title = "Mud, Muscle, and Miracles",
publisher = "Washington, DC: Department of the Navy",
note = "A joint publication of the Naval Historical Center and the
Naval Sea Systems Command", 
year = "1990")

@book( bass79,
author = "F. G. Bass and I. M. Fuks",
title = "Wave Scattering from Statistically Rough Surfaces",
publisher = "Oxford: Pergammon",
year = "1979")


@inproceedings( bauzil81,
author = "G. Bauzil and M. Briot and P. Riges",
title = "A Navigation subsystem using Ultrasonic Sensors for the
Mobile Robot Hilare",
booktitle = "1st Int. Conf. Robot Vision and Sensory Controls",
address = "Stratford-upon-Avon",
pages = "47-58",
year = "1981" )



@article( beckerman90,
author = "M. Beckerman and E. Oblow",
title = "Treatment of Systematic Errors in the Processing of
Wide-Angle Sonar Sensor Data for Robotic Navigation",
journal = ieeetra,
volume = 6,
number = 2,
year = 1990 )



@misc( belcher98,
author = "E. Belcher",
title = "Diver Held, Imaging Sonar",
note = "{\tt http://www.apl.washington.edu/programs/DHIS/DHIS.html}",
institution = "Applied Physics Laboratory, University of Washington",
year = "1998")

@inproceedings( bellingham89,
author = "J. G. Bellingham and R. Beaton and M. Triantafyllou and L.
Shupe",
title = "An Autonomous Submersible Designed for Software Development",
booktitle = "IEEE Oceans",
pages = "799-803",
year = "1989")

@inproceedings( bellingham90,
	key="Bellingham",
	author="J. G. Bellingham and T. R. Consi",
	title="State Configured Layered Control",
	pages="75-80",
	editors="Lee, M. J. and McGhee, R. B.",
	booktitle="Proceedings of the IARP 1st Workshop on Mobile
		Robots for Subsea Environments",
	institution="International Advanced Robotics Programme",
	address="Monterey, CA, USA",
	month="October",
	year=1990)

@article( bellingham90a,
author = "J. G. Bellingham and T. R. Consi",
title = "Robots Underwater --- Ongoing Research at {MIT}",
journal = "Sea Technology",
month = "May",
year = "1990") 

@inproceedings( bellingham90b,
author = "J. G. Bellingham and D. Humphrey",
title = "Using Layered Control for Supervisory  Control of Underwater 
Vehicles",
booktitle = "Proceedings ROV '90", 
page = "175",
year = "1990")

@inproceedings( bellingham90c,
author = "J. G. Bellingham and T. R. Consi and R. Beaton and W. Hall",
title = "Keeping Layered Control Simple", 
booktitle = "Proceedings {AUV} '90",
page = "3", 
year = "1990")

@techreport( bellingham91,
	key="Bellingham",
	author="J. G. Bellingham and T. R. Consi and C. Goudey and J. Bales",
	title="Monitoring of {B}oston {H}arbor and {M}assachusetts {B}ay with
		Autonomous Vehicles",
	institution="Sea Grant College Program, Massachusetts Institute
		of Technology",
	month="August",
	year=1991)

@inproceedings( bellingham92,
author = "J. G. Bellingham and C. A. Goudey and T. R. Consi and C.
Chryssostomidis", 
title = "A Small, Long-Range Autonomous Underwater Vehicle for Deep
Ocean Exploration",
booktitle = "Proc.\ International Society of Off-shore and Polar
Engineers",
year = "1992")

@inproceedings( bellingham92a,
author = "J. G. Bellingham and T. R. Consi and U. Tedrow and D. Di Massa", 
title = "Hyperbolic Acoustic Navigation for Underwater Vehicles: Implementation and
 Demonstration", 
booktitle = "Proceedings {AUV} '92",
pages = "304-309",
year = "1992")

@proceedings( bellingham92b,
editor = "J. G. Bellingham",
title = "Scientific and Environmental Data Collection with
Autonomous Underwater Vehicles",
organization = "MIT Sea Grant Marine Industry Collegium",
address = "Cambridge, MA",
month = "March",
year = "1992")

@inproceedings( bellingham93a,
author = "J. G. Bellingham and T. R. Consi and C. Goudey and J. W. Bales and C. Chryssostomidis", 
title = "Performance Characteristics of the {O}dyssey {AUV}",
booktitle = uust,
pages = "37-49",
year = "1993")

@inproceedings( bellingham93b,
author = "J. G. Bellingham and C. Chryssostomidis and M. Deffenbaugh
		  and J. J. Leonard and H. Schmidt", 
title = "Arctic Under-Ice Survey Operations",
booktitle = uust,
pages = "50-59",
year = "1993")

@inproceedings( bellingham94,
author = "J. G. Bellingham and C. A. Goudey and T. R. Consi and J. W.
Bales and D. K. Atwood and J. J. Leonard and C. Chryssostomidis",
title = "A Second Generation Survey {AUV}",
address = "Cambridge, MA",
booktitle = "IEEE Conference on Autonomous Underwater Vehicles",
year = "1994")

@inproceedings( bellingham94b,
	author="J. G. Bellingham and J. J. Leonard",
	title="Task Configuration with Layered Control",
	editors="Lee, M. J. and McGhee, R. B.",
	booktitle="Proceedings of the IARP 2nd Workshop on Mobile Robots for
Subsea Environments",
	address="Monterey, CA, USA",
	month="May",
	pages = "193-302",
	year=1994 )

@inproceedings( bellingham95a,
	author="J. G. Bellingham and J. J. Leonard and J. Vaganay and
C. Goudey and D. Atwood and T. Consi and J. Bales and H. Schmidt and
C. Chryssostomidis",
	title="{AUV} Operations in the Arctic",
	booktitle="Proceedings of the Sea Ice Mechanics and Arctic
Modeling Workshop",
	address="Anchorage, Alaska, USA",
	month="April",
	year=1995 )


@inproceedings( bellingham96,
author = "J. G. Bellingham and J. S. Willcox",
title = "Optimizing {AUV} oceanographic surveys ",
address = "Monterey, CA",
booktitle = "IEEE Conference on Autonomous Underwater Vehicles",
year = "1996")

@inproceedings( bennett93,
		  author = "A. A. Bennett",
		  title = "Combining Planning With Reactive
		  Architectures in an Autonomous Underwater Vehicle",
		  booktitle = uust,
		  month = "September",
		  pages = "437-445",
		  year = 1993)

@INPROCEEDINGS( bennett95,
AUTHOR = "A. B. Bennett and J. J. Leonard and J. G. Bellingham",
TITLE = "Bottom Following for Survey Class Autonomous Underwater Vehicles",
BOOKTITLE = uust,
MONTH = "September",
pages = "327-336",
YEAR = "1995" )


@phdthesis( bennett97,
author = "Andrew A. Bennett",
title = "Feature Relative Navigation for Autonomous Underwater Vehicles",
school = "MIT",
year = "1997")

@inproceedings( bergem93,
author="O. Bergem",
title="A Multibeam Sonar Based Positioning System for an {AUV}",
booktitle="Eighth International Symposium on Unmanned Untethered Submersible Technology ({AUSI})",  
month ="September",
year="1993")


@Book{ berger85,
  author = 	 "J. O. Berger",
  title = 	 "Statistical Decision Theory and {B}ayesian Analysis",
  publisher = 	 "Springer-Verlag",
  year = 	 "1985",
  edition =	 "Second"
}


@book( besl88,
  author =      "P. J. Besl",
  title =       "Surfaces in Range Image Understanding",
  publisher =   "Springer-Verlag",
  year =        "1988")

@article( besl88a,
author = "P. J. Besl and R. C. Jain",
title = "Segmentation Through Variable-Order Surface Fitting",
journal = ieeepami,
volume = "10",
number = "2",
pages = "167-192",
year = "1988")

@article( besl88b,
author = "P. J. Besl",
title = "Active, Optical Range Imaging Sensors",
journal = "Machine Vision and Applications",
Volume = "1",
pages = "127-152",
year = "1988")

@incollection( besl90,
author = "P. J. Besl",
title = "The Free-Form Surface Matching Problem",
booktitle = "Machine Vision for Three Dimensional Scenes",
year = "1990")


@INPROCEEDINGS( betge96,
AUTHOR = {S. {Betg\'{e}-Brezetz} and  P. H\'{e}bert and  R.
		  Chatila and M. Devy},
TITLE = "Uncertain map making in natural environments",
BOOKTITLE = ieeeicra,
MONTH = "April",
pages = "1048-1053",
YEAR = 1996 )

@article( bhanu86,
author = "B. Bhanu",
title = "Automatic Target Recognition: State of the Art Survey",
journal = ieeeaes,
volume = "22",
number = "4",
month = "July",
pages = "364-379",
year = "1986")


@inproceedings( bhushan92,
author = "M. Bhushan and L. Hassebrook and H. Hejase and K. Donohue
and J. Li",
title = "Acoustic Spherical Array Prototype Omni-Directional Imaging
System", 
booktitle = iros,
pages = "845-850",
year = "1992")

@inproceedings( biber80,
author = "C. Biber and S. Ellin and E. Sheck and J. Stempeck",
title = "The {P}olaroid Ultrasonic Ranging System",
booktitle = "67th Audio Engineering Society Convention",
address = "New York",
month = "October",
year = "1980",
note = "Reprinted in Polaroid Ultrasonic Ranging System Handbook"
)

@techreport( bicchi90,
author = "A. Bicchi and J. K. Salisbury and D. L. Brock",
title = "Contact Sensing from Force Measurements",
type = "AI Memo", 
institution = "MIT",
number = "1262",
year = "1990")

@inproceedings( biggers89,
author = "K. Biggers and S. Jacobsen and C. Davis",
title = "Linear Analysis of a Force Reflective Teleoperator",
booktitle = "{NASA} Conference on Space Telerobotics",
month = "January",
year = "1989")

@book( bird74,
author = "G. Bird",
title = "Radar Precision and Resolution",
publisher = "New York: John Wiley and Sons",
year = "1974")

@inproceedings( bird91,
author = "J. Bird and M. Goulding",
title = "Obstacle Avoidance with Resource Constrained Detection",
booktitle = uust,
pages = "441-453",
year = "1991")

@inproceedings( birnholz87,
author = "J. C. Birnholz",
title = "Clinical ultrasound pattern recognition",
booktitle = "SPIE International Symposium on Pattern Recognition and
Acoustical Imaging",
volume = "768",
pages = "19-21",
year = "1987")


@article( bishop87,
author = "G. C. Bishop and W. Y. Ellison and L. E. Melberg",
title = "A Simulation Model for High-Frequency Under-Ice Reverbation",
journal = jasa,
volume = "82",
number = "1",
year = "1987")

@book( blackman86,
author = "S. S. Blackman",
title = "Multiple Target Tracking with Radar Applications",
publisher = "Boston: Artech House",
year = "1986",
barker_call_number = "TK6580.B49")

@INCOLLECTION( blackman90,
AUTHOR = "S. S. Blackman",
TITLE = "Association and Fusion of Multiple Sensor Data",
BOOKTITLE = "Multitarget-Multisensor Tracking: Advanced Applications",
editor = "Y. Bar-Shalom",
PUBLISHER = "Boston: Artech House",
PAGES = "187-218",
YEAR = "1990" )

@BOOK( blackwell54,
AUTHOR = "D. Blackwell and M. Girshick",
TITLE = "Theory of Games and Statistical Decisions",
PUBLISHER = "Dover Publications",
YEAR = "1954" )

@book( blahut90,
author = "R. Blahut and W. Miller, Jr. and C. Wilcox",
title = "Radar and Sonar: Part {I}",
publisher = "Springer-Verlag",
year = "1991")

@book( blake87,
author = "A. Blake and A. Zisserman",
title = "Visual Reconstruction",
publisher = "MIT Press",
year = "1987")

@book( blake92,
editor = "A. Blake and A. Yuille",
title = "Active Vision",
publisher = "MIT Press",
year = "1992")

@inproceedings(bobick96,
author = "A. Bobick and J. Davis",
title = "Real-time recognition of activity using temporal templates",
booktitle = "3rd IEEE Workshop on Applications of Computer Vision, WACV'96",
publisher = "IEEE",
address = "Sarasota, FL, USA",
year = "1996")

@INPROCEEDINGS( boie86,
AUTHOR = "R. A. Boie and I. J. Cox and P. Rehak",
TITLE = "On Optimum Edge Recgnition Using Matched Filters",
BOOKTITLE = "{IEEE} Computer Society Conference on Computer Vision and Pattern Recognition",
ORGANIZATION = "{IEEE}",
PAGES = "100-108",
YEAR = "1986",
MONTH = "June" )

@INPROCEEDINGS( boie87,
AUTHOR = "R. A. Boie and I. J. Cox",
TITLE = "Two dimensional Optimum Edge Detection Using Matched and Wiener Filters for Machine Vision",
BOOKTITLE = "{IEEE} First International Conference on Computer Vision",
ORGANIZATION = "{IEEE}",
PAGES = "450-456",
YEAR = "1987",
MONTH = "June" )

@inproceedings( boiecox87,
	author = " R. A. Boie and I. J. Cox",
	title = "Two Dimensional Optimum Edge Recognition Using Matched and Wiener Filters for Machine Vision",
	booktitle =  "IEEE First Int. Conf. Computer Vision",
	publisher = "IEEE",
	year =  1987,
	pages = "450-456"
)

@inproceedings( boiecox90,
	author = "I. J. Cox and R. A. Boie and D. A. Wallach",
	title= "Line Recognition",
	booktitle= "10th Int. Conf. on Pattern Recognition",
	publisher= "IEEE",
	year = 1990,
	pages = "639-645"
) 

@article( bolle86,
	author="R. M. Bolle and D. B. Cooper",
	title= "On Optimaly Combining Pieces of Information, with Application to
	Estimating 3-{D} Complex-Object Position from Range Data",
	journal=ieeepami,
	volume=8,
	number=5,
	pages="619--638",
	year=1986
)

@inproceedings( bonasso93,
author = "R. P. Bonasso and J. Barratt",
title = "A Reactive Robot System for Find and Visit Tasks in a Dynamic
		  Ocaen Environment",
booktitle = uust,
year = "1993")

@ARTICLE( borenstein88,
TITLE = "Obstacle Avoidance with Ultrasonic Sensors",
AUTHOR = "J. Borenstein and Y. Koren",
JOURNAL = "{IEEE} Journal of Robotics and Automation",
VOLUME = "RA-4", 
PAGES = "213-218",
MONTH = "April",
YEAR = "1988" )

@ARTICLE( borenstein89,
TITLE = "Real-Time Obstacle Avoidance for Fast Mobile Robots",
AUTHOR = "J. Borenstein and Y. Koren",
JOURNAL = ieeesmc,
VOLUME = "19", 
PAGES = "1179-1189",
MONTH = "September",
YEAR = "1989" )


@inproceedings( borenstein90,
author = "J. Borenstein and Y. Koren",
title = "Real-time Obstacle Avoidance for Fast Mobile Robots in
Cluttered Environments",
BOOKTITLE = "{IEEE} International Conference on Robotics and Automation",
PAGE = "572",
YEAR = "1990" )

@ARTICLE( borenstein91,
title = "The Vector Field Histogram -- Fast Obstacle Avoidance for Mobile
Robots",
AUTHOR = "J. Borenstein and Y. Koren",
JOURNAL = "{IEEE} Journal of Robotics and Automation",
VOLUME = "7", 
NUMBER = "3",
pages = "278-288",
MONTH = "June",
YEAR = "1991" )

@book( borenstein96,
title = "Navigating Mobile Robots: Systems and Techniques",
author = "Y. Borenstein and H. Everett and L. Feng",
publisher = "A. K. Peters",
year = "1996");


@book( bouvet91,
editor = "M. Bouvet and G. Bienvenu",
title = "High-Resolution Methods in Underwater Acoustics",
publisher = "Berlin: Springer-Verlag",
year = "1991")

@book( bowman69,
title = "Electromagnetic and Acoustic Scattering by Simple Shapes",
author = "J. J. Bowman and T. B. A. Senior and P. L. E. Uslenghi",
publisher = "Amsterdam: North-Holland",
year = "1969")

@BOOK( bozic79,
TITLE = "Digital and {K}alman Filtering",
AUTHOR = "S. M. Bozic",
PUBLISHER = "Edward Arnold",
YEAR = "1979" )

@ARTICLE( bozma89,
AUTHOR = "O. Bozma and R. Kuc",
TITLE = "Building a Sonar Map in a Specular Environment using a Single
Mobile Transducer",
journal = ieeepami,
month = "December",
volume = "13",
number = "12",
pag = "1260",
YEAR = "1991" )

@inproceedings( bozma91,
author = "O. Bozma and R. Kuc",
title = "Single Sensor Sonar Map Building Based on Physical Principles of
Reflection",
booktitle = iros,
year = "1991")

@article( bozma91b,
author = "O. Bozma and R. Kuc",
title = "Characterizing pulses reflected from rough surfaces using
ultrasound", 
journal = jasa,
volume = "89",
number = "6",
month = "June",
pages = "2519-2531",
year = "1991")

@ARTICLE( bozma91c,
AUTHOR = "O. Bozma and R. Kuc",
TITLE = "Building a Sonar Map in a Specular Environment using a Single
Mobile Transducer",
journal = ieeepami,
month = "December",
volume = "13",
number = "12",
pag = "1260",
YEAR = "1991" )

@inproceedings( bozma92b,
author = "O. Bozma and R. Kuc",
title = "Characterizing the Environment Using Echo Energy, Duration,
and Range: the {ENDURA} Method",
booktitle = iros,
pages = "813-820",
year = "1992")

@ARTICLE( brady82,
AUTHOR = "M. Brady",
TITLE = "Computational Approaches to Image Understanding",
JOURNAL = "Computing Surveys",
VOLUME = "14",
NUMBER = "1",
MONTH = "March",
YEAR = "1982" )

@TECHREPORT( brady84,
AUTHOR = "M. Brady",
TITLE = "Artificial Intelligence and Robotics",
TYPE = "AI Memo",
NUMBER = "756",
INSTITUTION = "MIT",
YEAR = "1984",
MONTH = "February" )

@INCOLLECTION( brady87,
AUTHOR = "M. Brady and S. Cameron and H. Durrant-Whyte and M. Fleck and D. Forsyth and A. Noble and I. Page",
TITLE = "Progress Towards a System That Can Acquire Pallets and Clean Warehouses",
BOOKTITLE = "4th International Symposium on Robotics Research",
PUBLISHER = "MIT Press",
YEAR = "1987" )

@INPROCEEDINGS( brady88,
AUTHOR = "M. Brady and A. McIvor and A. Brint and P. Foulkes and G. Scott and W. Dickson",
TITLE = "Vision and the Oxford AGV",
BOOKTITLE = "Image Processing '88",
PAGES = "267-286",
ADDRESS = "London",
MONTH = "November",
YEAR = "1988" )

@ARTICLE( brady88b,
author = "J. M. Brady (Editor)",
TITLE = "Special Issue on Sensor Data Fusion",
JOURNAL = "International Journal of Robotics Research",
VOLUME = "7",
NUMBER = "6",
YEAR = "1988" )

@INCOLLECTION( brady89,
AUTHOR = "M. Brady",
TITLE = "Problems in Robotics",
BOOKTITLE = "Robotics Science",
PUBLISHER = "MIT Press",
YEAR = "1989" )

@inproceedings( brady89b,
author = "M. Brady and H. Durrant-Whyte and H. Hu and J. Leonard and
P. Probert and B. Rao",
title = "Sensor-based Control of {AGV}'s",
booktitle = "IARP 1st Workshop on Domestic Robots and 2nd Workshop on
Medical and Healthcare Robotics",
month = "September",
year = 1989,
note = "Also published in {\em Int. Workshop on Sensorial
Integration for Industrial Robots}, Zaragoza, Spain, November, 1989,
and {\em IEE Computing and Control Journal}, March 1990" 
) 

@misc( brady_viva,
author = "M. Brady",
note = "Personal communication during the first author's viva")

@inproceedings( branch89,
author = "A. C. Branch",
title = "The Robot's Brain",
booktitle = "IARP 1st Workshop on Domestic Robots and 2nd Workshop on
Medical and Healthcare Robotics",
month = "September",
year = 1989 ) 

@phdthesis( braunegg90,
author = "D. J. Braunegg",
title = "{MARVEL}: A System for Recognizing World Locations",
school = "MIT",
year = "1990")

@book( bregman90,
author = "A. S. Bregman", 
title = "Auditory Scene Analysis",
publisher = "MIT Press",
year = "1990")

@article( bremmer82,
author = "H. Bremmer and S. W. Lee",
title = "Geometrical Optics Solution of Reflection from an Arbitrarily
Curved Surface",
journal = "Radio Science",
volume = "17",
month = "September-October",
pages = "1117-1131",
year = "1982")

@phdthesis( brisson90,
	key="Brisson",
	author="Brisson, E.",
	title="Representations of d-Dimensional Geometric Objects",
	school="Department of Computer Science and Engineering,
		University of Washington",
	address="Seattle, WA, USA",
	year=1990)

@article( brooks79,
author = "R. A. Brooks and G. di Chiro",
title = "Principles of Computer Assisted Tomography (CAT) in
Radiographic and Radioisotopic Imaging",
journal = "Physics in Medicine and Biology",
volume = "21",
number = "5",
pages = "689-732")

@inproceedings( brooks84,
	author="R. A Brooks",
	title="Aspects of Mobile Robot Visual Map Making",
	booktitle=isrr2,
	address="Tokyo, Japan",
	publisher="MIT Press",
	year=1984
)

@INPROCEEDINGS( brooks85,
AUTHOR = "R. A. Brooks",
TITLE = "Visual Map Making for a Mobile Robot",
BOOKTITLE = "{IEEE} Conference on Robotics and Automation",
PAGES = "824-829",
YEAR = "1985" )

@ARTICLE( brooks86,
AUTHOR = "R. A. Brooks",
TITLE = "A Robust Layered Control System For a Mobile Robot",
JOURNAL = "{IEEE} Journal of Robotics and Automation",
VOLUME = "RA-2", 
NUMBER = "1",
PAGES = "14-23",
MONTH = "March",
YEAR = "1986" )

@INCOLLECTION( brooks89,
AUTHOR = "R. A. Brooks",
TITLE = "The Whole Iguana",
BOOKTITLE = "Robotics Science",
PUBLISHER = "MIT Press",
YEAR = "1989" )

@INPROCEEDINGS( brooks89b,
AUTHOR = "R. A. Brooks and A. M. Flynn",
TITLE = "Robot Beings",
BOOKTITLE = iros,
page = "2-10",
YEAR = "1989" )

@article( brooks90,
author = "R. A. Brooks",
title = "Elephants Don't Play Chess",
journal = "Robotics and Autonomous Systems",
pages = "3-15",
month = "June",
year = "1990" )

@article( brooks91,
author = "R. A. Brooks",
title = "Intelligence Without Representation",
journal = "Artificial Intelligence",
volume = "47",
pages = "139-159",
year = "1991") 

@techreport( brooks91a,
author = "R. A. Brooks",
title = "Intelligence Without Reason",
number = "A.I. Memo No. 1293",
institution = "Massachusetts Institute of Technology",
month = "April",
year = "1991")

@ARTICLE( brown85,
AUTHOR = "M. K. Brown",
TITLE = "Feature Extraction Techniques for Recognizing Solid Objects with an Ultrasonic Range Sensor",
JOURNAL = "{IEEE} Journal of Robotics and Automation",
VOLUME = "RA-1", 
NUMBER = "4",
PAGES = "191-205",
MONTH = "December",
YEAR = "1985" )

@article( brown85a,
author = "M. K. Brown",
title = "A Controlled Impedance Robot Gripper",
journal = "Bell Laboratories Technical Journal",
volume = "64",
number = "4",
month = "April",
year = "1985")

@INPROCEEDINGS( brown86,
AUTHOR = "M. K. Brown",
TITLE = "On Ultrasonic Detection of Surface Features",
BOOKTITLE = "{IEEE} International Conference on Robotics and Automation",
ORGANIZATION = "{IEEE}",
PAGES = "1785-1790",
YEAR = "1986" )

@ARTICLE( brown86b,
AUTHOR = "M. K. Brown",
TITLE = "The Extraction of Curved Surface Features with Generic Range Sensors",
JOURNAL = ijrr,
VOLUME = "5", 
NUMBER = "1",
PAGES = "3-18",
YEAR = "1986" )

@INPROCEEDINGS( brown89,
AUTHOR="C. Brown and H. Durrant-Whyte and J. Leonard and B. Rao",
TITLE = "Centralized and Decentralized {K}alman Filter Techniques for Tracking, Navigation, and Control",
BOOKTITLE = "DARPA Image Understanding Workshop",
MONTH = "May",
pages = "651-675",
YEAR = "1989")

@techreport( brown89b,
	author = "C. Brown and H. Durrant-Whyte and J. Leonard and B. Rao and B. Steer",
	title = "{K}alman Filter Algorithms, Applications, and Utilities",
	institution=ourrg,
	number="OUEL-1765/89",
	year="1989")

@book( brown_and_hwang92,
author = "R. Brown and P. Hwang",
title = "Introduction to Random Signals and Applied {K}alman
Filtering", 
publisher = "J. Wiley and Sons",
year = "1992")

@incollection( brown_chris92,
author = "C. Brown and H. Durrant-Whyte and J. Leonard and B. Rao and
B. Steer",  
title = "Distributed Data Fusion Using {K}alman Filtering: A Robotics
Application",  
booktitle = "Data Fusion in Robotics and Machine Intelligence", 
editor = "M. A. Abidi and R. C. Gonzalez",
publisher = "Academic Press",
pages = "267-309",
year = "1992")

@article( brown_david_k92,
author = "D. K. Brown",
title = "Damn the Mines!",
journal = "Proceedings of the  {U}. {S}. Naval Institute",
month = "March",
number = 3,
volume = 118,
pages = "45-50",
year = 1992)

@article( brown_w89,
author = "W. Brown and C. Swonger",
title = "A Prospectus for Automatic Target Recognition",
journal = ieeeaes,
volume = "25",
month = "May",
number = "3",
pages = "401-409",
year = "1989")

@mastersthesis( brutzman92,
author = "D. P. Brutzman",
title = "{NPS AUV} Integrated Simulator",
address = "Cambridge, MA",
school = "Naval Postgraduate School",
month = "March",
year = "1992")

@inproceedings( brutzman92b,
author = "D. P. Brutzman",
title = "From Virtual World to Reality: Designing an Autonomous
Underwater Robot",
booktitle = "AAAI Fall Symposium on Applications of Artificial
Intelligence to Real-World Autonomous Mobile Robots",
address = "Cambridge, MA",
month = "October",
year = "1992")

@phdthesis( brutzman94,
author = "D. P. Brutzman",
title = "A Virtual World for an Autonomous Underwater Vehicle",
school = "Naval Postgraduate School",
month = "December",  
address = "Monterey, CA",
year = "1994")


@inproceedings( brutzman95,
author = "D. P. Brutzman",
title = "Internet Protocol over Seawater ({IP/SW}): Towards
Interoperable Underwater Networks",
booktitle = uust,
pages = "444-457",
year = 1995)

booktitle = "AAAI Fall Symposium on Applications of Artificial
Intelligence to Real-World Autonomous Mobile Robots",
address = "Cambridge, MA",
month = "October",
year = "1992")


@Article{bulata96, 
  author = 	 {Hanna Bulata and  Michel Devy},
  title = 	 {Incremental Construction of Landmark-based and
		  Topological Model of Indoor Environments by a Mobile
		  Robot},
  journal = 	 ieeeicra,
  year = 	 1996,
  month =         {April},
  pages=         {1054--1060},
  annote =	 {Uses a laser range finder to map the environment and
		  locate itself in this environment. A hybrid local
		  map method is used, grouping by landmark types, such
		  as walls, corners, doors etc. with its own frame of
		  reference. Landmarks are then collected in area
		  frames, i.e. landmarks that are correlated. The area
		  frames are then used to construct the global
		  map. The update is done through an Extended Kalman
		  filter. An approximate initial map was given to the
		  robot. Emphasizes on indoor environments. Claimed
		  contributions: The {\em ``landmark extraction
		  function"} and the {\em ``landmark localization
		  function"} this is based on what the call ``useful
		  features". A landmark is based on a set of line
		  segments (connected or not). The localization
		  procedure requires that the initial position. } 
} 

@inproceedings( bullock91,
author = "M. Bullock and T. Miltonberger and P. Reinholdtsen and K.
Wilson",
title = "Multisensor Fusion Research using the Sensor Algorithm
Research Expert System",
booktitle = spieaor,
volume = "1471",
pages = "291-302",
address = "Orlando, FL",
year = "1991")


@book( burdic92,
author = "W. S. Burdic",
title = "Underwater Acoustic System Analysis",
publisher = "Englewood Cliffs, NJ: Prentice-Hall",
year = "1992")


@Article{burgard99,
  author = 	 {W. Burgard and  A.B. Cremers and  D. Fox and  D. Haehnel and  G. Lakemeyer and  D. Schulz and  W. Steiner and  S. Thrun},
  title = 	 {Experiences with an Interactive Museum Tour-Guide Robot.},
  journal = 	 {Artificial Intelligence},
  year = 	 1999
}


@inproceedings( burien96,
author = "E. Burien and D. Yoerger and A. Bradley and H. Singh",
title = "Gradient Search with Autonomous Underwater Vehicles Using
		  Scalar Measurements",
booktitle = "Proceedings {AUV} '96",
year = "1996")

@mastersthesis( burien96a,
author = "E. Burien",
title = "Search Methods for an Autonomous Underwater Vehicle using
		  Scalar Measurements",
school = "Massachusetts Institute of Technology",
address = "Cambridge, MA, USA",
year = 1996)

@book( busnel66,
editor = "G. Busnel",
title = "Animal Sonar Systems: Biology and Bionics",
publisher = "Jouy-en-Josas, France: Laboratoire de Physiologie
Acoustique INRA-CNRZ", 
year = "1966")

@book( busnel80,
editor = "G. Busnel and J. Fish",
title = "Animal Sonar Systems",
publisher = "New York: Plenum Press",
year = "1980")

@INPROCEEDINGS( butler95,
AUTHOR = "B. Butler",
TITLE = "Field trials of the {T}heseus {AUV}",
BOOKTITLE = uust,
pages = "6-15",
MONTH = "September",
YEAR = "1995" )

@phdthesis( cameron89,
author = "A. J. Cameron",
title = "A {B}ayesian Approach to Optimal Sensor Placement",
school = "University of Oxford",
year = "1989" )

@INPROCEEDINGS( cameron89b,
AUTHOR = "A. J. Cameron",
TITLE = "Optimal Tactile Sensor Placement",
BOOKTITLE = "{IEEE} International Conference on Robotics and Automation",
YEAR = "1989")

@INPROCEEDINGS( cameron_steve88,
AUTHOR = "S. Cameron and J. Aylett",
TITLE = "{ROBMOD}: A Geometry Engine for Robotics",
BOOKTITLE = "{IEEE} International Conference on Robotics and Automation",
ORGANIZATION = "{IEEE}",
PAGES = "880-885",
YEAR = "1988" )



@book( camp70,
author = "L. Camp",
title = "Underwater Acoustics",
publisher = "Wiley-Interscience",
year = "1970")

@article( campbell83, 
author = "J. Campbell and S. Synnott and G. Bierman",
title = "Voyager Orbit Determination at {J}upiter",
journal = ieeeac,
month = "March",
volume = "AC-28",
number = "3",
pages = "256-268",
year = "1983")


@mastersthesis( canny83,
author = "J. F. Canny",
title = "Finding Edges and Lines in Images",
school = "MIT",
month = jun, year = 1983 )


@TECHREPORT( canny83a,
AUTHOR = "J. F. Canny",
TITLE = "Finding Edges and Lines in Images",
TYPE = "AI Memo",
NUMBER = "AI-TR-720",
INSTITUTION = "MIT",
MONTH = "June",
YEAR = "1983" )

@inproceedings( cao91,
author = "P. Cao and J. M. Cuschieri and R. Sudhakar",
title = "A High Resolution 3-{D} Sonar Imaging System for Autonomous Underwater
Vehicles",
booktitle = "IEEE Oceans",
pages = "1019-1026",
year = "1991")

@inproceedings( carpenter98,
author = "R. N. Carpenter",
title = "Concurrent mapping and localization using forward look sonar",
booktitle = "IEEE AUV",
address = "Cambridge, MA",
month = "August", 
year = "1998")

@techreport( carpenter98b,
author = "R. N. Carpenter",
title = "Forward Looking Sonar Processing for Non-traditional Navigation: U.S./French UUV NG\&C Technology Development", 
number = "NUWC-NPT Technical Memorandum 980062",
institution = "Naval Undersea Warfare Center, Newport, RI",
month = "May",
year = "1998")

@techreport( carpenter98c,
author = "R. N. Carpenter", 
title = "Data collection exercise: U.S./France UUV NG\&C technology
                  development",  
number = "NUWC-NPT Technical Memorandum 980060",
institution = "Naval Undersea Warfare Center, Newport, RI",
month = "May",
year = "1998")

@techreport( carpenter98d,
author = "R. N. Carpenter", 
title = "Measurement accuracy of the HRA", 
number = "NUWC-NPT Technical Memorandum",
institution = "Naval Undersea Warfare Center, Newport, RI",
note = "In progress",
year = "1999")

@techreport( carpenter99,
author = "R. N. Carpenter and J. J. Leonard and H. J. S. Feder",
title = "Concurrent mapping and localization using forward look sonar",
number = "Marine Robotics Laboratory Technical Memorandum 99-2",
institution = "Massachusetts Institute of Technology",
year = "1999")

@article( carter87,
author = "G. C. Carter",
title = "Coherence and Time Delay Estimation",
journal = "Proceedings of the {IEEE}",
volume = "75",
number = "2",
pages = "236-255",
month = "February",
year = "1987")

% J.A. Castellanos, J.D. Tardss and G. Schmidt, "Building a Global Map
%     of the Environment of a Mobile Robot: The Importance of
%     Correlations", 1997 IEEE Int. Conference on Robotics and
%     Automation, ICRA'97, Albuquerque, New Mexico, USA, 20-25 Apr 1997,
%     pp.  1053-1059.

@inproceedings( castellanos97,
author = "J. A. Castellanos and J. D. Tardss and G. Schmidt",
title = "Building a Global Map of the Environment of a Mobile Robot: The Importance of Correlations",
booktitle = ieeeicra,
pages = "1053-1059",
year = "1997")

@article( catipovic90,
Author = "J. Catipovic",
title = "Performance Limitations in Underwater Acoustic Telemetry",
journal = ieeejoe,
month = "July",
volume = "15",
number = "3",
pages = "205-216",
year = "1990" )

@article( catipovic94,
author = "J. Catipovic and D. Brady and S. Etchemendy",
title = "Development of underwater acoustic modems and networks",
journal = "Oceanography",
volume = "6",
number = "3",
month = "April",
pages = "112",
year = "1994")


@techreport( chammas90,
author = "C. Chammas",
title = "Analysis and Implementation of Robust Grapsing Behaviors",
institution = "MIT",
TYPE = "AI Memo",
number = "1237",
year = "1990")

@inproceedings( chang90,
author = "K. Chang and S. Mori and C. Chong",
title =  "Performance Evaluation of a Multiple Hypothesis Multitarget
Tracking Algorithm",
booktitle = "{IEEE} Int. Conference on Decision and Control (CDC)",
pages = "2258-2263",
year = "1990" )

@inproceedings( chantler91,
author = "M. Chantler an d C. Reid",
title = "Local Scene Analysis and Interpretation for Robotic Manipulation",
booktitle = uust,
pages = "351-358",
year = "1991")



@inproceedings( chappell94,
author = "S. G. Chappell and J. C. Jalbert and P. Pietryka and J. Duchesny",
title = "Acoustic Communications between two Autonomous Underwater
Vehicles",
booktitle = "IEEE Oceans",
pages = "462-469",
year = "1994" )


@book( chasen78,
author = "S. H. Chasen",
title = "Geometric Principles and Procedures for Computer Graphic Applications",
publisher = "Prentice-Hall",
year = "1978")

@INPROCEEDINGS( chatila85a,
AUTHOR = "R. Chatila and J.P. Laumond",
TITLE = "Position Referencing and Consistent World Modeling for Mobile Robots",
BOOKTITLE = "{IEEE} International Conference on Robotics and Automation",
ORGANIZATION = "{IEEE}",
PAGE = "138",
YEAR = "1985" )

@INCOLLECTION( chatila85b,
AUTHOR = "R. Chatila",
TITLE = "Mobile Robot Navigation Space Modeling and Decisional Processes",
BOOKTITLE = "Third Int. Symposium Robotics Research",
PUBLISHER = "MIT Press",
YEAR = "1985" )

@inproceedings( chen94,
author = "Y. Chen and G. Medioni",
title = "Surface Description of Objects from Multiple Range Images",
BOOKTITLE = "DARPA Image Understanding Workshop",
YEAR = "1994")

@ARTICLE( cheung89,
AUTHOR = "E. Cheung and V. Lumelsky",
TITLE = "Proximity Sensing in Robot Manipulator Motion Planning Systems: System and Implementation Issues",
JOURNAL = ieeetra,
VOLUME = "5",
NUMBER = "6",
PAGES = "740-751",
MONTH = "December",
YEAR = "1989" )

@article( chivers77,
author = "R. C. Chivers",
title = "The Scattering of Ultrasound by Human Tissues --- Some Theoretical Models",
journal = "Ultrasonics in Medicine and Biology",
volume = "3",
pages = "1-13",
year = "1977")

@incollection( choi??,
author = "H. C. Choi and J. G. Harris",
title = "Probing a Convex Interface with an Ultrasonic Beam",
booktitle = "",
pages = "405-416",
year = "")

@INCOLLECTION( chong90,
AUTHOR = "C. Chong and S. Mori and K. Chang",
TITLE = "Distributed Multitarget Multisensor Tracking",
editor = "Y. Bar-Shalom",
BOOKTITLE = "Multitarget-Multisensor Tracking: Advanced Applications",
PUBLISHER = "Boston: Artech House",
PAGES = "247-295",
YEAR = "1990" )

@inproceedings( chong97,
author = "K.~S. Chong and L. Kleeman",
title = "Sonar Feature Map Building for a Mobile Robot",
booktitle = ieeeicra,
year = "1997")


@TechReport{chong97a,
author = "K.~S. Chong and L. Kleeman",
  title = 	 "Sonar Based Map Building in Large Indoor Environments",
  institution =  "Department of Electrical and Computer Systems Engineering, Monash University", 
  year = 	 "1997",
  number = 	 "MECSE-1997-1",
}

% Chong, K.S. and Kleeman, L. " Sonar Based Map Building in Large Indoor
%  Environments ", 1997 International Conference on Field and Service Robotics,
%  Canberra (Australia). 

%   This report presents a strategy for achieving practical mapping
%   navigation using a wheels driven robot equipped with an advanced
%   sonar sensor. The original mapping navigation experiment, carried
%   out with the same robot configuration, builds a feature map
%   consisting of commonplace indoor landmarks crucial for localisation,
%   namely planes, corners and edges. The map exhaustively maintains
%   covariance matrices among all features, thus presents a time and
%   memory impediment to practical navigation in large environments. The
%   new local mapping strategy proposed here breaks down a large
%   environment into a topology of local regions, only maintaining the
%   covariance among features in the same local region, and the
%   covariance among local maps. This notion of two hierarchy
%   representation drastically improves the memory and processing time
%   requirements of the original global approach, while preserving the
%   statistical details, in the authors' opinions, necessary for an
%   accurate map and prolonged navigation. The new local mapping scheme
%   also extends the endeavour towards reducing error accumulation made
%   in the global mapping strategy by eliminating totally error
%   accumulated between visits to the same part of the environment. This
%   is achieved with a map matching strategy developed exclusively for
%   the advanced sonar sensor employed. The local mapping strategy has
%   been tested in two large, real life indoor environments and
%   successful results are reported here.

@inproceedings{chong97b, 
  author = 	 {Kok Seng Chong and  Lindsay Kleeman},
  title = 	 {Sonar Based Map Building for a Mobile Robot},
  booktitle = 	 ieeeicra,
  year = 	 1997,
  month =        {April},
  pages =	 {1700--1705},
  annote =	 {In this paper features are classified into corners,
		  planes and edges, and are obtained through a
		  multiple transducer sensor array (sonar). Accurate
		  Odometry is available. Collinearity constrains
		  among features are exploited to enhance state
		  estimation. The map update uses the Julier-Uhlmann
		  Kalman filter. The correlations among map features
		  are represented explicitly. Phantom measurements are
		  also taken care of, but uncertainties in the origin
		  of measurements are not implemented. The JUKF is
		  compared to the IEKF, a slight improvement is
		  claimed using JUKF, but it is rather vague. }
}

@book( christensen88,
author = "D. A. Christensen",
title = "Ultrasonic Bioinstrumentation",
publisher = "New York: John Wiley and Sons",
year = "1988")

@techreport( chryssostomidis93,
author = "C. Chryssostomidis",
title = "The {MIT} {S}ea {G}rant {S}ummer 1993 Undergraduate Workshop in
Autonomous Underwater Vehicles: A Case Studey of Issues of Complexity
in Undergraduate Engineering Design",
institution = "MIT Sea Grant College Program",
number = "MITSG 93-30",
year = "1993")

@inproceedings( cipolla90,
author = "R. Cipolla and A. Blake",
title = "The Dynamic Analysis of Apparent Contours",
booktitle = iccv,
pages = "616-623",
year = "1990",
address = "Osaka, Japan" )



@book( clarkson93,
author = "P. M. Clarkson",
title = "Optimal and Adaptive Signal Processing",
publisher = "Boca Raton, FL: CRC Press",
year = "1993")

@mastersthesis( clauberg91,
author = "B. Clauberg",
title = "Adaptive Control of a Small Autonomous Underwater Vehicle",
school = "MIT Department of Electrical Engineering and Computer Science",
year = "1991")

@book( clay77,
author = "C. Clay and H. Medwin",
title = "Acoustical Oceanography",
publisher = "Wiley",
address = "New York",
year = "1977")

@misc( coast_guard92,
author = "{U. S. Coast Guard}",
title = "Advisory for Encountering Arsenic Trioxide Drums",
year = "1992")

@book( cole92,
author = "H. W. Cole",
title = "Understanding Radar",
publisher = "Oxford: Blackwell Scientific Publications Ltd.",
year = "1992")
	  
@incollection( conell92b,
author = "J. H. Connell",
title = "Extending the Navigation Metaphor to Other Domains",
booktitle = "{AAAI} Symposium on applications of artificial intelligence to real-worl autonomous mobile robots",
editor = "E. Gat and M. Slack and A. Kak and S. Chien",
month = "October",
year = "1992",
pages = "29-35",
address = "Cambridge, MA")

@PHDTHESIS( connell89,
AUTHOR = "J. Connell",
TITLE = "A Colony Architecture for an Artificial Creature",
SCHOOL = "Massachusetts Institute of Technology",
YEAR = "1989" ) 


@book( connell90,
author = "Jonathon H. Connell",
title = "Minimalist Mobile Robotics: A Colony Style Architecture for
an Artificial Creature",
note = "ISBN 0-12-185230-X",
publisher = "Academic Press",
year = "1990")

@inproceedings( connell92,
author = "J. H. Connell",
title = "{SSS}: A Hybrid Architecture Applied to Robot Navigation",
BOOKTITLE =  ieeeicra,
ORGANIZATION = "{IEEE}",
PAGES = "2719-2724",
YEAR = "1992" )


@inproceedings( consi94,
author = "T. R. Consi and C. A. Goudey and J. Cho and C. Chryssostomidis",
title = "{AUV} guidance with chemical signals",
address = "Cambridge, MA",
booktitle = "IEEE Conference on Autonomous Underwater Vehicles",
year = "1994")

@book( cook67,
author = "C. E. Cook",
title = "Radar signals; an Introduction to theory and application",
publisher = "New York: Academic Press",
barker_call_number = "TK6575.C771",
year = "1967")

@inproceedings( cooper91,
author = "M. Cooper and R. Whaley",
title = "Finding a Needle in a Haystack",
booktitle = "IEEE Oceans",
pages = "169-174",
year = "1991")

@book( cornsweet70,
author = "Cornsweet",
title = "Visual Perception",
publisher = "Academic Press",
year = "1970")

@article( costas84,
author = "J. P. Costas",
title = "A Study of a Class of Detection Waveforms Having Nearly Ideal
Range-Doppler Ambiguity Properties",
journal = "{\em Proc. IEEE}",
volume = "72",
number = "8",
month = "August",
year = "1984")

@Proceedings{costello96,
  author = 	 "D. K. Costello and K. L. Carder and S. M. Smith",
  title = 	 "Unmanned Underwater Vehicles as Platforms for
		  Optical Oceanography in Coastal Waters",
  year = 	 "1996",
  OPTorganization = "AGU",
}

@book( cox73,
title = "Plate Tectonics and Geomagnetic Reversals",
editor = "A. Cox",
publisher = "W. H. Freeman and Company",
address = "San Francisco",
year = "1973")

@INPROCEEDINGS( cox88,
AUTHOR = "I. J. Cox",
TITLE = "Blanche: An Autonomous Robot Vehicle for Structured Environments",
BOOKTITLE =  ieeeicra,
ORGANIZATION = "{IEEE}",
PAGES = "978-982",
YEAR = "1988" )

@INPROCEEDINGS( cox88b,
AUTHOR = "I. J. Cox",
TITLE = "C++ Language Support for Guaranteed Initialization, Safe trermination, and Error Recovery in Robotics",
BOOKTITLE =  ieeeicra,
ORGANIZATION = "{IEEE}",
PAGES = "641-643",
YEAR = "1988" )

@INPROCEEDINGS( cox89,
AUTHOR = "I. J. Cox",
TITLE = "Blanche: Position Estimation for an Autonomous Robot Vehicle",
BOOKTITLE = iros,
PAGES = "432-439",
YEAR = "1989" )

@article( cox90,
author = "I. J. Cox and J. B. Kruskal and D. A. Wallach",
title = "Predicting and Estimating the Performance of a Subpixel Registration Algorithm",
journal = ieeepami,
page = "721",
year = "1990" )

@book( cox90a,
author = "I. J. Cox and G. T. Wilfong",
TITLE = "Autonomous Robot Vehicles",
PUBLISHER = "Springer-Verlag",
YEAR = "1990" )

@INCOLLECTION( cox90b,
AUTHOR = "I. J. Cox",
TITLE = "Blanche: Position Estimation for an Autonomous Robot Vehicle",
BOOKTITLE = "Autonomous Robot Vehicles",
EDITOR = "I. J. Cox and G. T. Wilfong",
PUBLISHER = "Springer-Verlag",
YEAR = "1990" )

@inproceedings( cox91a,
author = "I. J. Cox and J. J. Leonard",
title = "Temporal Integration of Multiple Sensor Observations
for Dynamic World Modeling: A Multiple Hypothesis Approach",
booktitle = "International Workshop on Information Processing
for Autonomous Mobile Robots: Theory and Application",
publisher = "Berlin: Springer-Verlag",
address = "Munich, Germany",
year = "1991",
)

%% Following for ``backward compatibility''
@inproceedings( cox91b,
author = "I. J. Cox and J. J. Leonard",
title = "Probabilistic Data Association
for Dynamic World Modeling: A Multiple Hypothesis Approach",
booktitle = "International Conference on Advanced Robotics",
address = "Pisa, Italy",
year = "1991",
)

@article( cox91d,
author = "I. J. Cox",
title = "Blanche -- An Experiment in Guidance and Navigation of an Autonomous Robot
Vehicle",
journal = ieeetra,
year = "1991",
volume = "7",
number = "3",
pages = "193-204")

@inproceedings( cox91e,
author = "I. J. Cox and J. J. Leonard",
title = "Unsupervised Learning for Mobile Robot Navigation Using 
Probabilistic Data Association",
booktitle = "2nd Annual Workshop on Computational Learning Theory and
Natural Learning Systems ({CLNL})",
month = "September",
year = "1991",
note = "Proceedings to be published by MIT Press")

@article( cox93, 
author = "I. J. Cox and J. J. Leonard",
title = "Modeling a Dynamic Environment Using a {B}ayesian Multiple Hypothesis
Approach",
journal = "Artificial Intelligence",
publisher = "London: Elsevier Science Publishers",
volume = "66",
number = "1",
month = "March",
note = "To be published",
year = 1994)

@techreport( cox93a,
author = "I. J. Cox and M. L. Miller",
title = "On finding ranked assignments with application to multi-target
tracking and motion correspondence", 
institution = "NEC Research Institute",
month = "July",
year = "1993")

@article( cox94,
author = "I. J. Cox and J. J. Leonard",
title = "Modeling a Dynamic Environment Using a {B}ayesian Multiple Hypothesis
Approach",
journal = "Artificial Intelligence",
publisher = "London: Elsevier Science Publishers",
volume = "66",
number = "2",
pages = "311-344",
month = "April",
year = 1994)


@article( cox96a,
author = "I. J. Cox and S. L. Hingorani",
title = "An Efficient Implementation of Reid's Multiple Hypothesis
Tracking Algorithm and its Evaluation for the Purpose of Visual
Tracking", 
journal = ieeepami,
page = "138-150",
year = "1996" )


@article( cox_h87,
author = "H. Cox and R. Zeskind and M. Owen",
title = "Robust Adaptive Beamforming",
journal = "IEEE Trans. Acoustics, Speech, and Signal Processing",
volume = "ASSP-35",
month = "October",
pages = "1365-1375",
year = "1987")


@incollection( cox_henry89,
author = "Henry Cox",
title = "Fundamentals of Bistatic Active Sonar",
booktitle = "Underwater Acoustic Data Processing",
publisher = "Dordrecht: Kluwer Academic Publishers",
pages = "3-24",
year = "1989")

@ARTICLE( crowley85,
AUTHOR = "J. L. Crowley",
TITLE = "Navigation for an Intelligent Mobile Robot",
JOURNAL = "{IEEE} Journal of Robotics and Automation",
VOLUME = "RA-1", 
NUMBER = "1",
PAGES = "31-41",
MONTH = "March",
YEAR = "1985" )

@inproceedings( crowley86,
	author="J. L. Crowley",
	title="Representation and Maintenance of a composite surface model",
	booktitle=ieeeicra,
	pages="1455-1462",
	year=1986
)

@inproceedings( crowley88,
	author="J. L. Crowley and P. Stelmaszyk and C. Discours",
	title="Measuring image flow by tracking edge-lines",
	booktitle="Proc. Second Int. Conference on Computer Vision",
	pages="658-664",
	year=1988
) 

@inproceedings( crowley89a,
	author="J. L. Crowley",
	title="World Modeling and Position Estimation for a Mobile
	Robot Using Ultra-sonic Ranging",
	booktitle=ieeeicra,
	pages="674--681",
	year=1989
)

@inproceedings( crowley89b,
	author="J. L. Crowley",
	title="Asynchronous Control of Orientation and Displacement
in a Robot Vehicle",
	booktitle=ieeeicra,
	pages="674--681",
	year=1989
)

@book( currie87,
author = "N. C. Currie and C. E. Brown",
title = "Principles and Applications of Millimeter-Wave Radar",
publisher = "Boston: Artech House",
year = "1987")

@book( currie92,
author = "N. Currie and R. Hayes and R. Trebits",
title = "Millimeter-Wave Radar Clutter",
publisher = "Boston: Artech House",
year = "1992")


@article( curtin93,
author = "T. Curtin and J. G. Bellingham and J. Catipovic and
D. Webb",  
title = "Autonomous Ocean Sampling Networks",
journal = "Oceanography",
volume = "6", 
number = "3", 
pages = "86-94",
year = "1993")


@inproceedings( cuschieri87,
author  = "J. M. Cuschieri",
title = "3-{D} Imaging Using an Electronically Scanned {FLS}",
booktitle = uust,
pages = "310-319",
year = "1987")

@book( cutkosky85,
author = "M. R. Cutkosky",
title = "Robotic Grasping and Fine Manipulation",
publisher = "Boston: Kluwer Academic Publishers",
year = "1985")

@article( cutkosky89,
author = "M. R. Cutkosky",
title = "On grasp choice, grasp models and the design of hands for
manufacturing tasks",
journal = ieeetra,
volume = 5, number = 3,
pages = "269--279", year = 1989)

@incollection( cutkosky90,
author = "M. R. Cutkosky and R. D. Howe",
title = "Human Grasp Choice and Robot Grasp Analysis",
crossref = "venkataraman90",
pages = "5--31")

@INCOLLECTION( dana90,
AUTHOR = "M. P. Dana",
TITLE = "Registration: A Prerequisite for Multiple Sensor Tracking",
BOOKTITLE = "Multitarget-Multisensor Tracking: Advanced Applications",
editor = "Y. Bar-Shalom",
PUBLISHER = "Boston: Artech House",
PAGES = "155-185",
YEAR = "1990" )

@Article{daniel98,
  author = 	 {S. Daniel and F. Le Leannec and C. Roux and B. Solaima and  E. Maillard},
  title = 	 {Side-scan sonar image matching},
  journal = 	 {IEEE J. of Oceanic Eng.},
  year = 	 {1998},
  volume = 	 {23},
  pages = 	 {245--259},
  month = 	 {July},
}


@incollection( dario92,
author = "P. Dario and R. Vallegi",
title = "Microrobotics: Shifting Robotics Technology Toward a
Different Scale World",
booktitle = "The Robotics Review II",
publisher = "MIT Press",
pages = "343-366",
year = "1992")

@article( das78,
author = "Y. Das and Y. M. Boerner",
title = "On Radar Target Shape Estimation Using Algorithms for
Reconstruction from Projections",
journal = "{IEEE} Transactions on Antennas and Propagation",
volume = "AP-26",
number = "2",
pages = "274-279",
month = "March",
year = "1978")

@misc( datamarine90,
author = "{Datamarine Corp., Pocasset, MA}",
title = "{LXR} Depthsounder: Theory of Operation",
date = "February 8, 1990");

@incollection( daum88,
author = "F. Daum",
editor = "James C. Spall",
title = "New Exact Nonlinear Filters",
booktitle = "{B}ayesian Analysis of Time Series and Dynamic Models",
pages = "199-226",
year = "1988")

@ARTICLE( davis83,
AUTHOR = "L. Davis, Z. Wu, and H. Sun",
TITLE = "Contour-Based Motion Estimation",
JOURNAL = "Computer Vision, Graphics, and Image Processing",
NUMBER = "23",
PAGES = "313-326",
YEAR = "1983" )

@inproceedings( dean_c91,
author = "C. Dean and M. Werby",
title = "Target Shape and Material Composition from Resonance Echoes
of Submerged Elongated Elastic Targets",
booktitle = spieaor,
volume = "1471",
pages = "54-65",
address = "Orlando, FL",
year = "1991")

@Article{ defeo97,
  author = 	 "M. de Feo and A. Graziano and R. Miglioli and A. Farina",
  title = 	 "{IMMJPDA} vs.\ {MHT} and {K}alman Filter with {NN} Correlation: performance comparison",
  journal = 	 "{IEE} Proceedings --- Radar, Sonar Navigation",
  year = 	 "1997",
  volume = 	 "144",
  number = 	 "2",
  pages = 	 "49-56",
  month = 	 "April",
}

@mastersthesis( deffenbaugh94,
author = "M. Deffenbaugh",
title = "A Matched Field Processing Approach to Long Range Acoustic
Navigation", 
school = "Massachusetts Institute of Technology",
year = "1994")


@inproceedings( deffenbaugh96a,
author = "M. Deffenbaugh and H. Schmidt and J. Bellingham",
title = "Acoustic Positioning in a Fading Multipath Environment",
booktitle = "IEEE Oceans",
pages = "596-599",
year = "1996")

@inproceedings( denton79,
author = "R. V. Denton and A. J. Rockmore and B. Friedlander and J. S.
Malin", 
title = "An image reconstruction approach to target association",
booktitle = "Proc. {IEEE} Asilomar Conf. on Circuits, Systems, and
Computers",
address = "Pacific Grove, CA",
month = "November",
pages = "304-308",
year = "1978")

@inproceedings( deriche90,
author = "R. Deriche and O. Faugeras",
title = "Tracking line segments",
booktitle = "Proc. European Conference on Computer Vision",
editor = "O. Faugeras",
publisher = "Springer-Verlag",
month = "April",
year = "1990" )

@inproceedings( desai95,
author = "M. Dsai and H. Pien and M. Bello",
title = "Underwater Image Processing and Target Classification",
booktitle = "Proceedings of the Autonomous Vehicles in Mine
Countermeasures Symposium",
pages = "6-188 -- 6-200",
publisher = "Naval Postgraduate School",
year = "1995")

		  
		  
@ARTICLE( desoer85,
AUTHOR = "C. A. Desoer and C. Lin",
TITLE = "Tracking and Disturbance Rejection of MIMO Nonlinear Systems with PI Controller",
JOURNAL = "{IEEE} Transactions on Automatic Control",
VOLUME = "AC-30",
NUMBER = "9",
PAGES = "861-867",
MONTH = "September",
YEAR = "1985" )
		  
		  @mastersthesis( dipietro88,
author = "D. M. DiPietro",
title = "Development of an Actively Compliant Underwater Manipulator",
school = "MIT",
month = "December",
year = "1988")

@book( desrochers92,
author = "A. A. Desrochers",
title = "Intelligent Robotic Systems for Space Exploration",
publisher = "Boston: Kluwer Academic Publishers",
year = "1992")

@incollection( devaney86,
author = "A. J. Devaney",
title = "Inverse Source and Scattering Problems in Ultrasonics",
editor = "H. Lee and G. Wade",
booktitle = "Modern Acoustical Imaging",
publisher = "IEEE Press",
pages = "341-350",
note = "Reprinted from IEEE Trans.\ Sonics Ultrason., Vol.\
SU-30, pp.\ 355-364, Nov.\ 1983", 
year = "1986")

@inproceedings( devaney87,
author = "A. J. Devaney",
title = "Inverse Scattering Theory Foundations of Tomography with
Diffracting Wavefields",
booktitle = "SPIE International Symposium on Pattern Recognition and
Acoustical Imaging",
volume = "768",
pages = "2-6",
year = "1987")


@INCOLLECTION( dezert92,
AUTHOR = "J. Dezert",
TITLE = "Autonomous Navigation with Uncertain Reference Points Using
the {PDAF}",
BOOKTITLE = "Multitarget-Multisensor Tracking: Advanced Applications,
Volume {II}",
editor = "Y. Bar-Shalom",
PUBLISHER = "Boston: Artech House",
PAGES = "271-324",
YEAR = "1992" )

@article( diachok76,
author = "O. Diachok",
title = "Effects of Sea-Ice Ridges on Sound Propagation in the Artic",
journal = jasa,
volume = "59",
number = "5",
year = "1976",
month = "May")

@INCOLLECTION( dickmanns87,
AUTHOR = "D. D. Dickmanns",
TITLE = "4{D}-Dynamic Scene Analysis with Integral Spatio-Temporal Models",
BOOKTITLE = "4th International Symposium on Robotics Research",
PUBLISHER = "MIT Press",
PAGES = "311-318",
YEAR = "1987" )

@Book( dierckx93,
		  author = "P. Dierckx",
		  title = "Curve and Surface Fitting with Splines",
		  publisher = "Oxford: Clarendon Press",
		  year = "1993"
		  )


@inproceedings(dissa97,
author = "G. Dissanayake and M. Herbert and A. Stentz and
                  H. Durrant-Whyte",
title = "Map building and terrain-aided localization in an underground
                  mine",
booktitle = "International Conference on Field and Service Robotics",
publisher = "Panther Publishing and Printing",
pages = "34--40",
address = "Canberra, Australia",
year = "1997")

@InProceedings{dissanayake99,
  author = 	 {M. W. M. G. Dissanayake and  P. Newman and H. F. Durrant-Whyte and  S. Clark and M. Csorba},
  title = 	 {A Solution to the Simultaneous Localization and Map Building ({SLAM}) Problem},
  booktitle = 	 {Sixth International Symposium on Experimental Robotics},
  year = 	 1999,
  month = 	 {March}
}

@INPROCEEDINGS( dmiller84,
AUTHOR = "D. Miller",
TITLE = "Two Dimensional Mobile Robot Positioning Using Onboard Sonar",
BOOKTITLE = "9th William T. Pecora Memorial Remote Sensing Symposium",
ORGANIZATION = "{IEEE}, {USGS}, {NASA}, {ASP}",
PAGES = "362-369",
YEAR = "1984" )

@BOOK( dorny75,
AUTHOR = "C. N. Dorny",
TITLE  = "A Vector Space Approach to Models and Optimization",
PUBLISHER = "John Wiley",
YEAR = "1975" )

@ARTICLE( drumheller87,
AUTHOR = "M. Drumheller",
TITLE = "Mobile Robot Localization Using Sonar",
JOURNAL = "{IEEE} Transactions on Patten Analysis and Machine Intelligence",
VOLUME = "PAMI-9",
NUMBER = "2",
PAGES = "325-332",
MONTH = "March",
YEAR = "1987" )

@incollection( dubrovskiy90,
author = "N. A. Dubrowskiy",
title = "On the Two Auditory Subsystems in Dolphins",
editor = "J. A. Thomas and R. A. Kastelein",
booktitle = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
pages = "233-254",
year = "1990")


@incollection( duck81,
author = "F. A. Duck",
title = "The Pulsed Ultrasonic Field",
booktitle = "Physical Aspects of Medical Imaging",
editor = "B. M. Moores",
publisher = "New York: Wiley",
pages = "97-108",
year = "1981")

@mastersthesis( duckworth79,
author = "G. L. Duckworth",
title = "Adaptive array processing for High Resolution Acoustic
Imaging",
school = "MIT",
year = "1979")

@phdthesis( duckworth83,
author = "G. L. Duckworth",
title = "Processing and inversion of {A}rctic {O}cean refraction data",
school = "MIT",
year = "1983")

@BOOK( duda73,
AUTHOR = "R. O. Duda and P. E. Hart",
TITLE = "Pattern Classification and Scene Analysis",
PUBLISHER = "John Wiley and Sons",
YEAR = "1973" )

@inproceedings( dudgeon89,
author = "D. Dudgeon and J. Verly and R. Delanoy",
title = "An Experimental Target Recognition System for Laser Radar Imagery",
BOOKTITLE = "DARPA Image Understanding Workshop",
MONTH = "May",
YEAR = "1989")


@proceedings( dupress67,
editor = "J. K. Dupress",
title = "Conference for Mobility Trainers and Technologists",
publisher = "MIT Sensory Aids Evaluation and Development Center",
month = "Decemeber",
year = "1967")

@PHDTHESIS( durrantwhyte85,
AUTHOR = "H. F. Durrant-Whyte",
TITLE = "Integration, coordination and control of multi-sensor robot systems",
SCHOOL = "University of Pennsylvania",
YEAR = "1985",
MONTH = "August" )

@BOOK( durrantwhyte87a,
AUTHOR = "H. F. Durrant-Whyte",
TITLE = "Integration, coordination and control of multi-sensor robot systems",
PUBLISHER = "Boston: Kluwer Academic Publishers",
YEAR = "1987" )

@ARTICLE( durrantwhyte87b,
AUTHOR = "H. F. Durrant-Whyte",
TITLE = "Consistent Integration and Propagation of Disparate Sensor Observations",
JOURNAL = "International Journal of Robotics Research",
VOLUME = "6",
YEAR = "1987" )

@ARTICLE( durrantwhyte88a,
AUTHOR = "H. F. Durrant-Whyte",
TITLE = "Uncertain Geometry in Robotics",
JOURNAL = "{IEEE} Journal of Robotics and Automation",
VOLUME = "RA-4", 
NUMBER = "1",
PAGES = "23-31",
MONTH = "February",
YEAR = "1988" )

@article( durrantwhyte88b,
	author="H. F. Durrant-Whyte",
	title="Sensor Models and Multi-Sensor Integration",
	journal=ijrr,
	volume=7,
	number=6,
	pages="97--113",
	year=1988
	)

@inproceedings( durrantwhyte89a,
AUTHOR = "H. F. Durrant-Whyte and J. J. Leonard",
TITLE = "Navigation by Correlating Geometric Sensor Data",
BOOKTITLE = iros,
YEAR = "1989" )

@inproceedings( durrantwhyte90a,
	author="H. F. Durrant-Whyte and B. Y. S. Rao and H. Hu",
	title="Toward a Fully Decentralized Architecture for
	       Multi-Sensor Data-Fusion",
	booktitle=ieeeicra,
	year=1990
)


@incollection( durrantwhyte92a,
author = "H. F. Durrant-Whyte and J. J. Leonard",
title = "Modeling Sonar Sensors",
booktitle = "The Robotics Review II",
publisher = "MIT Press",
pages = "145-151",
year = "1992")

@misc( durrantwhyte94,
author = "H. F. Durrant-Whyte",
note = "Personal communication",
month = "June",
year = "1994")

@INPROCEEDINGS( durrantwhyte95,
AUTHOR = "H. F. Durrant-Whyte and E. Bell and P. Avery",
TITLE = "The Design of a Radar-Based Navigation System for Large
Outdoor Vehicles", 
BOOKTITLE = ieeeicra,
PAGES = "764-769",
MONTH = "May",
YEAR = "1995" )


@book( dutton85,
title = "Dutton's Navigation and Piloting",
editor = "E. S. Maloney",
publisher = "Annapolis, MD: Naval Institute Press",
year = "1985")

@misc( dyer93,
author = "I. Dyer",
title = "Fundamentals and applications of underwater sound",
note = "Course notes for MIT Dept.\ of Ocean Engineering class 13.85",
year = "1993")

@inproceedings( eck95,
author = "M. Eck and T. DeRose and T. Duchamp and H. Hoppe and
M. Lounsbery and W. Stuetzle",
title = "Multiresolution Analysis of Arbitrary Meshes",
booktitle = "Computer Graphics Proceedings, Annual Conference Series",
publisher = "ACM SIGGRAPH",
pages = "173-182",
year = "1995")

@book( edgerton86,
author = "H. E. Edgerton",
title = "Sonar Images",
publisher = "Englewood Cliffs, NJ: Prentice-Hall",
year = "1986")

@misc( edo98,
author = "EDO Corporation",
title = "{http://www.edocorp.com/indust/acoustic/products/veloc.html}",
year = "1998")


@inproceedings( egeskov94,
author = "P. Egeskov and A. Bjerrum and C. Aage and A. Pacoal and C. Silvestre,
Carlos and L. Wagner Smitt",
title = "Design, Construction and Hydrodynamic Testing of the {AUV} {MARIUS}",
booktitle = "AUV 94",
year = "1994")

@TECHREPORT( einbinden83,
AUTHOR = "Einbinden and Kirshtein",
TITLE = "EDWIN: a Prototype Autonomous Mobile Robot",
INSTITUTION = "Drexel University",
NOTE = "Undergraduate Project",
MONTH = "May",
YEAR = "1983" )

@ARTICLE( elfes87,
AUTHOR = "A. Elfes",
TITLE = "Sonar-Based Real-World Mapping and Navigation",
JOURNAL = "{IEEE} Journal of Robotics and Automation",
VOLUME = "RA-3", 
NUMBER = "3",
PAGES = "249-265",
MONTH = "June",
YEAR = "1987" )

@INPROCEEDINGS( elfes88,
AUTHOR = "A. Elfes",
TITLE = "Integration of Sonar and Stereo Range Data Using a Grid-Based Representation",
BOOKTITLE = ieeeicra,
PAGE = "727",
YEAR = "1988" )

@inproceedings( elfes89,
	author = "A. Elfes",
	title = "A Tesselated Probabilistic Representation for
	         Spatial Robot Perception and Navigation",
	booktitle = "Proc. NASA Conference on Space Telerobotics",
	year = 1989
)

@inproceedings( elfes90,
	author = "A. Elfes",
	title = "Strategies for Active Robot Perception using a
Probabilistic Spatial Model",
	booktitle = iros,
	year = 1990
)

@book( engelberger89,
author = "J. F. Engelberger",
title = "Robotics in Service",
publisher = "Kogan Page",
year = "1989")


@incollection( engheta90,
author = "N. Engheta",
title = "An Overview of the Theory of the Near-Zone Doppler Effect",
editor = "H. N. Kritikos and D. L. Jaggard",
booktitle = "Recent Advances in Electromagnetic Theory",
publisher = "New York: Springer Verlag",
pages = "56-73",
year = "1990")

@book( etter91,
author = "P. C. Etter",
title = "Underwater Acoustic Modeling: Principles, Techniques, and
Applications", 
publisher = "London: Elsevier Applied Science",
year = "1991")






@article( evans89,
author = "J. Evans et al.",
title = "HelpMate: a Service Robot for Health Care",
journal = "The Industrial Robot",
month = "June",
pages = "87-89",
year = "1989" )

@article( evans90,
author = "R. B. Evans",
title = "Three-dimensional acoustic scattering from a cylindrical
inclusion in a waveguide",
booktitle = "Computational Acoustics",
volume = "2",
publisher = "Amsterdam: North-Holland",
pages = "123-148",
year = "1990")

@article( everett85,
author = "H. Everett",
title = "A Multi-element Ultrasonic Ranging Array",
journal = "Robotics Age",
pages = "13-20",
month = "July",
year = "1985" )

@article( everett89,
author = "H. Everett",
title = "Collision Avoidance and Ranging Sensors for Mobile Robots",
journal = "Robotics and Autonomous Systems",
pages = "4-67",
month = "May",
year = "1989" )

@ARTICLE( fairman85,
AUTHOR = "F. W. Fairman and L. Luk",
TITLE = "On Reducing the Order of {K}alman Filters for Discrete-Time Stochastic Systems Having Singular Measurement Noise",
JOURNAL = "{IEEE} Transactions on Automatic Control",
VOLUME = "AC-30",
NUMBER = "11",
PAGES = "1150-1152",
MONTH = "November",
YEAR = "1988" )


@INPROCEEDINGS( faugeras86a,
AUTHOR = "O. Faugeras and N. Ayache and B. Faverjon",
TITLE = "Building Visual Maps by Combining Noisy Stereo Measurements",
BOOKTITLE = ieeeicra,
PAGES = "1433",
YEAR = "1986" )

@article( faugeras86b,
	author="O. Faugeras and M. Herbert",
	title="The Representation, Recognition and Locating of 3-{D} Objects",
	journal=ijrr,
	volume=5,
	number=3,
	pages="27--52",
	year="Fall 1986"
)

@INPROCEEDINGS( faugeras87a,
AUTHOR = "O. Faugeras and F. Lustman and G. Toscani",
TITLE = "Motion and Structure from Motion from Point and Line Matches",
BOOKTITLE = "International Conference on Computer Vision",
PAGES = "25-34",
MONTH = "June",
YEAR = "1987" )


@inproceedings( faugeras89,
AUTHOR = "O. Faugeras and T. Vieville",
TITLE =  "Cooperation of the Inertial and Visual Systems",
BOOKTITLE = sifir,
ADDRESS = "Zaragoza, Spain",
PAGES = "8-11",
YEAR = "1989" )

@incollection( faugeras89a,
author = "O. Faugeras",
title = "A Few Steps toward Artificial 3-{D} Vision",
BOOKTITLE = "Robotics Science",
PUBLISHER = "MIT Press",
YEAR = "1989" )

@book( faux79,
author = "I. D. Faux and M. J. Pratt",
title = "Computational Geometry for Design and Manufacture",
publisher = "Ellis Howood Publishers, Chichester, and Halstead Press,
a division of John Wiley and Sons, New York",
year = "1979")

@article( fearing86,
author = "R. S. Fearing",
title = "Simplified grasping and manipulation with dextrous robot hands",
journal = ieeera,
volume = "RA-2", number = 4,
pages = "188--195", year = 1986)

@incollection( fearing90,
author = "R. S. Fearing",
title = "Tactile Sensing for Shape Interpretation",
crossref = "venkataraman90",
pages = "209--238")

@inproceedings( fearing90a,
author = "R. S. Fearing",
title = "Some Experiments with Tactile Sensing during Grasping",
booktitle = ieeeicra,
pages = "1637--1643", year = 1990 )

@article( feddema89,
	author = "J. T. Feddema and O. R. Mitchell",
	title = "Vision-Guided Servoing with Feature-Based Trajectory Generation",
	journal=ieeera,
	volume=5,
	number=5,
	pages="691-700",
	year=1989
	)


@inproceedings{ feder97,
  author =       "H. J. S. Feder and J.-J. E. Slotine",
  title =        "Real-Time Path Planning Using Harmonic Potentials In Dynamic
 Environments",
  booktitle =      ieeeicra,
  year =         "1997",
  month =        "April"
}

@INPROCEEDINGS( feder98a,
AUTHOR = "H. J. S. Feder and J. J. Leonard and C. M. Smith",
TITLE = "Adaptive concurrent mapping and localization using sonar",
BOOKTITLE = iros,
address = "Victoria, B.C., Canada",
month = "October",
YEAR = "1998" )


@INPROCEEDINGS( feder98b,
AUTHOR = "H. J. S. Feder and J. J. Leonard and C. M. Smith",
TITLE = "Adaptive sensing for terrain aided navigation",
booktitle = "IEEE Oceans",
address = "Nice, France",
month = "September",
YEAR = "1998" )

@techreport( feder98c,
author = "H. J. S. Feder and J. J. Leonard and C. M. Smith",
title = "Adaptive Mapping and Navigation Using Sonar",
number = "98-3",
institution = "Marine Robotics Laboratory,  Massachusetts Institute of Technology", 
note ="Available from {{\footnotesize \tt http://oe.mit.edu/\verb+~+jleonard/pubs/tech\_report983.pdf}}",  
year = "1998"
)

@INPROCEEDINGS( feder98d,
AUTHOR = "H. J. S. Feder and C. M. Smith and J. J. Leonard",
TITLE = "Incorporating Environmental Measurements in Navigation",
booktitle = "IEEE AUV",
address = "Cambridge, MA",
month = "August",
YEAR = "1998" )

@phdthesis( feder99,
author = "H. J. S. Feder",
title = "Simultaneous Stochastic Mapping and Localization",
school = "Massachusetts Institute of Technology",
year = "1999")

@techreport( feder99a,
author = "H. J. S. Feder and J. J. Leonard and R. N. Carpenter",
title = "Concurrent mapping and localization using forward look sonar",
number = "Marine Robotics Laboratory Technical Memorandum 99-3",
institution = "Massachusetts Institute of Technology",
year = "1999")

@misc( feder99c,
author = "H. J. S. Feder and J. J. Leonard",
title = "Decoupled stochastic mapping Part {II}: performance analysis",
note = "Submitted for consideration for publication to the IEEE Transactions on Robotics and Automation",
year = "1999")

@article( feder99d,
author = "H. J. S. Feder and J. J. Leonard and C. M. Smith",
title = "Adaptive Mobile Robot Navigation and Mapping",
journal = "Int. J. Robotics Research",
year = "1999",
month = "July",
note = "To Appear",
)

@MISC( feldman,
AUTHOR = "J. A. Feldman and R. F. Sproull",
TITLE = "System Support for the Stanford Hand-Eye System" )

@book( felson76,
editor = "L. B. Felson",
title = "transient Electromagnetic Fields",
publisher = "Berlin: Springer-Verlag",
year = "1976")

@article( felson85,
author = "L. B. Felson",
title = "Novel Ways for Tracking Rays",
journal = "Journal of the Optical Society of America {A}",
volume = "21",
pages = "954-963",
year = "1985") 

@article( felson87,
author = "L. B. Felson",
title = "Target Strength: Some Recent Theoretical Developments",
journal = ieeejoe,
month = "April",
volume = "12",
number = "2",
year = "1987")


@inproceedings( felson91,
author = "L. Felson and F. Vecchi and L. Carin and H. Bertoni",
title = "Short Pulse Electromagnetics for Sensing Applications",
booktitle = spieaor,
volume = "1471",
pages = "154-162",
address = "Orlando, FL",
year = "1991")


@inproceedings( felson91b,
author = "L. Felson",
title = "Observable-basd Parameterization ({OBP})",
booktitle = spieaor,
volume = "1471",
pages = "88-",
address = "Orlando, FL",
year = "1991")

@phdthesis( figueroa88,
author = "F. Figueroa",
title = "An Ultrasonic Ranging System for Robot End-Effector Position
Measurement Feedback in Robotics",
school = "The Pennsyvania State University",
year = "1988")

@BOOK( fischler87,
EDITOR = "M. A. Fischler and O. Firschein",
TITLE = "Readings in Computer Vision",
PUBLISHER = "Morgan Kaufmann",
YEAR = "1997" )

@Misc{fisher_info,
  key={AA},
  note =	 {Strictly
speaking, the Fisher information  is only defined in the  non-Bayesian
view of estimation \cite{barshalom88}, that is, in the estimation of a
{\em  non-random} parameter.  In the  Bayesian approach to estimation,
the  parameter is  {\em   random} with a (prior)   probability density
function.  However,  as in the non-Bayesian  definition  of the Fisher
information, the inverse of  the   the Fisher information for   random
parameter estimation is the Cram\'{e}r-Rao   lower bound for the  mean
square error.}
}

@incollection( flax81,
author = "L. Flax and G. C. Gaunard and H. Uberall",
title = "Theory of Resonance Scattering",
booktitle = "Physical Acoustics XV",
publisher = "Academic Press",
pages = "191-294",
year = "1981")

@inproceedings( floyd91,
author = "C. A. Floyd and Y. Kanayama and C. Magrino",
title = "Underwater Obstacle Recognition Using a Low-Resolution Sonar",
booktitle = uust,
pages = "309-327",
year = "1991")

@INPROCEEDINGS( flynn88a,
AUTHOR = "A. M. Flynn and R. A. Brooks",
TITLE = "{MIT} Mobile Robots--What's Next?",
BOOKTITLE = ieeeicra,
ORGANIZATION = "{IEEE}",
PAGES = "611-617",
YEAR = "1988" )

@ARTICLE( flynn88b,
AUTHOR = "A. M. Flynn",
TITLE = "Combining Sonar and Infrared Sensors for Mobile Robot Navigation",
JOURNAL = "International Journal of Robotics Research",
VOLUME = "7",
NUMBER = "6",
YEAR = "1988" )

@inproceedings( flynn90,
author = "P. Flynn and A. Jain",
title = "BONSAI: 3{D} Object Recognition Using Constrained Search",
booktitle = iccv,
pages = "263-267",
year = "1990",
address = "Osaka, Japan" )

@inproceedings( foreman93,
author = "M.G.G. Foreman and R.A. Walters and R.F. Henry",
title = "A Model For Simulating Currents in the Eastern Juan de Fuca
		  and the Southern Strait of Georgia",
booktitle = "IEEE Oceans",
pages = "335-340",
year = "1993")

@inproceedings( forsberg87,
author = "R. Forsberg",
title = "Topographic Effects in Airborne Gravity Gradiometry",
booktitle = "Proceedings, 15th Gravity Gradiometer Conference",
address = "Colorado Springs",
month = "February",
year = 1987)

@inproceedings( forsyth90,
author = "D. Forsyth and J. Mundy and A. Zisserman and C. Brown",
title = "Invariance -- A New Framework for Vision",
booktitle = iccv,
pages = "598-605",
year = "1990",
address = "Osaka, Japan" )

@article( fortin92,
author = "E. Fortin",
title = "Those Damn Mines",
journal = "Proceedings of the  {U}. {S}. Naval Institute",
month = "July",
number = "6",
volume = "118",
pages = "30-34",
year = "1992")

@article( fortin92,
author = "E. Fortin",
title = "Those Damn Mines",
journal = "Proceedings of the  {U}. {S}. Naval Institute",
month = "July",
number = "6",
volume = "118",
pages = "30-34",
year = "1992")

@book( fossen94,
author = "T. I. Fossen",
title = "Guidance and Control of Ocean Vehicles",
publisher = "Chichester: Wiley",
year = "1994")

@article( freedman62,
author = "A. Freedman",
title = "A Mechanism of Acoustic Echo Formation",
journal = "Acustica",
volume = "12",
number = "1",
pages = "10-21",
year = "1962")


@article( freedman62b,
author = "A. Freedman",
title = "The High Frequence Echo Structure of Some Simple Body Shapes",
journal = "Acustica",
volume = "12",
number = "2",
pages = "61-70",
year = "1962")

@article( freedman64,
author = "A. Freedman",
title = "Recent Approaches to Echo-Structure Theory",
journal = jasa,
volume = "36",
number = "2000 (A)",
year = "1964")

@article( freedman70,
author = "Albert Freedman",
title = "Sound Field of Plane or Gently Curved Pulsed Radiators",
journal = jasa,
volume = "48",
number = "1",
year = "1970",
pages = "221-227")

@article( freedman70b,
author = "Albert Freedman",
title = "Transient Fields of Acoustic Radiators",
journal = jasa,
volume = "48",
number = "1",
year = "1970",
pages = "135-138")

@inproceedings( freedman76,
author = "A. Freedman",
title = "The Use of Linear System Theory in Acoustic Radiation and
Scattering Analysis",
booktitle = "Recent Developments in Underwater Acoustics",
publisher = "University of Birmingham, {UK}",
year = "1976")

@article( frese91,
author = "R. von Frese and M. Jones",
title = "Gravity and Magnetic Exploration of the Seafloor",
journal = "Sea Technology",
month = "September",
year = "1991",
pages = "10-22" )

@phdthesis( fricke91,
author = "J. R. Fricke",
title = "Acoustic Scattering from Elastic Ice: A Finite Difference
Solution", 
school = "MIT/WHOI",
note = "{WHOI}-91-10",
year = "1991")

@book( friedlander58,
author = "F. G. Friedlander58",
title = "Sound Pulses",
publisher = "Cambridge University Press",
year = "1958")

@inproceedings( frohlich89,
AUTHOR = "C. Frohlich and G. Karl and G. Schmidt",
TITLE =  "Sensor Assisted Navigation of a Mobile Robot in Building
Environments", 
BOOKTITLE = sifir,
ADDRESS = "Zaragoza, Spain",
PAGES = "397-399",
YEAR = "1989" )

@inproceedings( fuller89,
author = "G. Fuller and G. Graff",
title = "Knowledge of the Environment for Successful Mine Laying and Hunting",
booktitle = "International Conference on Mine Warfare Vessels and
Systems 2",
publisher = "The Royal Institution of Naval Architects",
address = "London",
year = "1989")

@InProceedings{gage93,
  author = 	 "Gage, D. W.",
  title = 	 "Randomized Search Strategies with Imperfect Sensors",
  booktitle = "Mobile Robots VIII",
  year = 	 "1993",
  organization = "SPIE",
  address = 	 "Boston, MA",
  month = 	 "September"
}

@book( gat92,
title = "{AAAI} Symposium on applications of artificial intelligence to real-worl autonomous mobile robots",
editor = "E. Gat and M. Slack and A. Kak and S. Chien",
month = "October",
year = "1992",
address = "Cambridge, MA")

@article( gaunaurd87,
author = "G. C. Gaunaurd",
title = "Techniques for Sonar Target Indentification",
journal = ieeejoe,
month = "April",
volume = "12",
number = "2",
pages = "419-422",
year = "1987")

@article( gaunaurd87a,
author = "G. C. Gaunaurd (editor)",
title = "Special Issue on Scattering",
journal = ieeejoe,
month = "April",
volume = "12",
number = "2",
year = "1987")

@incollection( gaunaurd90,
author = "G. C. Gaunaurd",
title = "Distortions in the Backscattering Cross-Sections of a
Submerged Elastic Target Produced by its Proximity to the Sea Surface
or Bottom",
booktitle = "Computational Acoustics",
volume = "2",
publisher = "Amsterdam: North-Holland",
pages = "25-37",
year = "1990")

@inproceedings( gaunaurd91,
author = "G. C. Gaunaurd",
title = "Inverse Scattering Problems in the Acoustic Resonance Region
of an Underwater Target",
booktitle = spieaor,
volume = "1471",
pages = "30-41",
address = "Orlando, FL",
year = "1991")

@inproceedings( gehlback87,
author = "S. M. Gehlback",
title = "Speckle reduction processing",
booktitle = "SPIE International Symposium on Pattern Recognition and
Acoustical Imaging",
volume = "768",
pages = "178-184",
year = "1987")

@BOOK( gelb73,
AUTHOR = "A. C. Gelb",
TITLE = "Applied Optimal Estimation",
PUBLISHER = "The MIT Press",
YEAR = "1973" )

@article( gerber78,
author = "M. A. Gerber",
title = "Gravity Gradiometer: Something New in Inertial Navigation",
journal = "Astronautics and Aeronautics",
month = "May",
pages = "18-26",
year = "1978")

@INPROCEEDINGS( gex87,
AUTHOR = "W. Gex and N. Campbell",
TITLE = "Local Free Space Mapping and Path Guidance",
BOOKTITLE =  ieeeicra,
ORGANIZATION = "{IEEE}",
PAGES = "424",
YEAR = "1987" )

@inproceedings( geyer87,
author = "E. Geyer and P. Creamer and J. D'Appolito and R. Gains",
title = "Characteristics and Capabilities of Navigation Systems for 
Unmanned Untethered Submersibles",
booktitle = uust,
pages = "320-347",
year = 1987)

@INPROCEEDINGS( gilbreath88,
AUTHOR = "G. Gilbreath and H. Everett",
TITLE = "Path Planning and Collision Avoidance for an Indoor Security Robot",
BOOKTITLE = "Proc. {SPIE} Conference on Mobile Robots {III}",
VOLUME = "1007",
ADDRESS = "Boston, MA",
PAGES = "19-27",
YEAR = "1988" )

@INPROCEEDINGS( giralt79,
AUTHOR = "G. Giralt and R. Sobek and R. Chatila",
TITLE = "A multi-level planning and navigation system for a mobile robot",
BOOKTITLE = "IJCAI",
PAGES = "335",
YEAR = "1979" )

@INCOLLECTION( giralt84a,
AUTHOR = "G. Giralt and R. Chatila and M. Vaisset",
TITLE = "An Integrated Navigation and Motion Control System for Autonomous Multisensory Mobile Robots",
BOOKTITLE = "First International Symposium on Robotics Research",
PUBLISHER = "MIT Press",
YEAR = "1984" )

@INCOLLECTION( giralt84b,
AUTHOR = "G. Giralt",
TITLE = "Mobile Robots",
BOOKTITLE = "Artificial Intelligence and Robotics",
PUBLISHER = "Springer-Verlag",
NOTE = "Nato ASI Series",
PAGES = "365-393",
YEAR = "1984" )

@article( glisson70,
author = "T. Glisson",
title = "On Sonar Signal Analysis",
journal = "{IEEE} Trans. on Aerospace and Electronic Systems",
month = "January",
pages = "37-49",
year = "1970")

@article( gold67,
author = "R. Gold",
title = "Optimal Binary Sequences for Spread Spectrum Multiplexing",
journal = "{IEEE} Trans. on Info. Theory",
month = "October",
pages = "619-621",
year = "1967") 

@book( gonzalez87, 
author = "R. C. Gonzalez and P. Wintz",
title = "Digital Image Processing",
publisher = "Adison Wesley",
year = "1987")

@article( gooberman68,
author = "G. L. Gooberman",
title = "Ultrasonics: theory and applications",
publisher = "London: English Universities Press",
year = "1968")

@misc( gordon,
author = "S. J. Gordon and W. Nelson",
title = "Four Dimensional Imager",
note = "Intelligent Automation Systems, Inc., 142 Rogers St.,
Cambridge, MA 02142")

@inproceedings( gordon92,
author = "S. J. Gordon", 
title = "Real-Time 3{D} Range Sensor",
booktitle = "Proc. {SPIE} Conference on Industrial Applications of
Optical Inspection, Metrology, and Sensing",
pages = "312-317",
month = "November",
address = "Boston",
year = "1992")

@inproceedings( gordon93,
author = "S. J. Gordon", 
title = "3{D} Video-laser sensors: advanced tools for product
development and inspection",
booktitle = "Proc. Int.\ Robotics and Vision Automation Conf.",
month = "April",
address = "Detroit",
pages = "16-7 to 16-12", 
year = "1993")

@article( gordon93a,
author = "G. A. Gordon and S. Canumalla and B. R. Tittman",
title = "Ultrasonic {C}-scan Imaging for Material Characterization",
journal = "Ultrasonics",
volume = "31",
number = "5",
pages = "373-380",
year = "1993")

@inproceedings( gordon94,
author = "S. J. Gordon", 
title = "{4DI}: A Real-Time Three-Dimensional Imager",
booktitle = "Proc. {SPIE} Conference on Industrial Inspection",
address = "Boston",
year = "1994")

@ARTICLE( gottshalk89,
AUTHOR = "P. G. Gottshak and J. L. Turney and T. N. Mudge",
TITLE = "Efficient Recognition of Partially Visible Objects Using a
Logarithmic Complexity Matching Algorithm",
JOURNAL = "International Journal of Robotics Research",
VOLUME = "8",
NUMBER = "6",
PAGES = "110-131",
YEAR = "1989" )

@INCOLLECTION( gough90,
AUTHOR = "P. Gough and A. de Roos and M. Cusdin",
TITLE = "Continuous Transmission {FM} Sonar with One Octave Bandwidth
and no Blind Time",
BOOKTITLE = "Autonomous Robot Vehicles",
EDITOR = "I. Cox and G. Wilfong",
PUBLISHER = "Springer-Verlag",
YEAR = "1990" )

@incollection( grahn86,
title = "Robotic Ultrasonic Force Sensor Arrays",
booktitle = "Robot Sensors, Volume 2: Tactile and Non-tactile",
editor = "A. Pugh",
publisher = "Berlin: Springer-Verlag",
pages = "297-315",
year = "1986")


@inproceedings( grech1,
author = "C. Grech and A. Weigel",
title = "Discovery and Exploration of the {USS MACON}",
booktitle = "IEEE Oceans",
pages = "179-182",
year = "1991")

@article( greenspan7889,
author = "M. Greenspan",
title = "Piston radiator: some extensions of the theory",
journal = jasa,
volume = "65",
pages = "608-621",
year = "1979")

@incollection(greenspan96,
author = "R. L. Greenspan",
title = "{GPS} and inertial navigation",
booktitle = "Global Positioning System:  Theory and Applications",
volume = "2",
chapter = "7",
publisher = "American Institute of Aeronautics and Astronautics",
year = "1996")



@inproceedings(greiner96,
author = "H. Greiner and A. Shectman and C. Won and R. Elsley and
                  P. Beith",
title = "Autonomous legged underwater vehicles for near land warfare",
booktitle = "IEEE Symposium on Autonomous Underwater Vehicle
                  Technology",
publisher = "IEEE",
address = "Monterey, CA, USA",
year = "1996")

@book( griffin58,
author = "D. R. Griffin",
title = "Listening in the Dark: The Acoustic Orientation of Bats and Men",
publisher = "Yale University Press",
address = "New Haven",
year = "1958")

@book( griffin76,
author = "D. R. Griffin",
title = "The Question of Animal Awareness",
publisher = "New York: The Rockefeller University Press",
year = "1976")

@incollection( griffin88,
author = "D. R. Griffin",
title = "Cognitive Aspects of Echolocation",
booktitle = "Animal Sonar: Processes and Performance",
editor = "P. Nachtigall and P. Moore",
publisher = "New York: Plenum Press",
pages = "683-690",
year = "1988")

@ARTICLE( grimson84,
AUTHOR = "W. E. L. Grimson and T. Lozano-Perez",
TITLE = "Model-Based Recognition and Localization from Sparse Range or Tactile Data",
JOURNAL = "International Journal of Robotics Research",
VOLUME = "3",
NUMBER = "3",
PAGES = "3-35",
YEAR = "1984" )

@INCOLLECTION( grimson85,
AUTHOR = "W. E. Grimson and T. Lozano-Perez",
TITLE = "Search and Sensing Strategies for Recognition and Localization of Two and Three Dimensional Objects",
BOOKTITLE = "3rd International Symposium on Robotics Research",
PUBLISHER = "MIT Press",
YEAR = "1985" )

@ARTICLE( grimson87,
AUTHOR = "W. E. Grimson and T. Lozano-Perez",
TITLE = "Localizing Overlapping Parts by Searching the Interpretation Tree",
JOURNAL = "{IEEE} Transactions on Pattern Anaysis and Machine Intelligence",
VOLUME = "PAMI-9",
NUMBER = "4",
MONTH = "July",
YEAR = "1987" )

@book( grimson90,
author = "W. E. L. Grimson",
title = "Object Recognition by Computer: The Role of Geometric Constraints",
publisher = "MIT Press",
note="(With contributions from T. Lozano-Perez and D. P. Huttenlocher)",
year = "1990" )

@inproceedings( grimson90a,
author = "W. E. L. Grimson",
title = "The Effect of Indexing on the Complexity of Object Recognition",
booktitle = iccv,
pages = "644-651",
year = "1990",
address = "Osaka, Japan" )

@article( grupen89,
author = "R. Grupen and T. Henderson and E. McCammon",
title = "A Survey of General Purpose Manipulation",
journal = ijrr,
volume = "8",
number = "1",
month = "February",
year = "1989")

@article( gueziec94,
author = "A. Gueziec and N. Ayache",
title = "Smoothing and Matching of 3-D Space Curves",
journal = ijcv,
volume = "12",
number = "1",
pages = "79-104",
year = "1994")

@phdthesis( gupta91,
author = "A. Gupta",
title = "Surface and Volumetric Segmentation of Complex 3-D Objects",
school = "University of Pennsylvania",
year = "1991")


@incollection( gupta93, 
title = "Recognition of Superquadric Models in Dense Range Data",
author = "A. Gupta and R. Bajcsy",
editor = "A. K. Jain and P. J. Flynn",
booktitle = "Three-dimensional Object Recognition Systems",
publisher = "Elsevier Science Publishers",
pages = "285-310",
year = "1993")

@ARTICLE( ha87,
AUTHOR = "I. J. Ha and E. G. Gilbert",
TITLE = "Robust Tracking in Nonlinear Systems",
JOURNAL = "{IEEE} Transactions on Automatic Control",
VOLUME = "AC-32",
NUMBER = "9",
MONTH = "September",
YEAR = "1987" )

@incollection( hackman93,
author = "R. H. Hackman",
editor = "A. D. Pierce and R. N. Thurston",
title = "Acoustic Scattering from Elastic Shells",
booktitle = "Physical Acoustics: High Frequency and Pulse Scattering",
volume = "XXII",
publisher = "Academic Press",
year = "1993")

@TECHREPORT( hager87a,
AUTHOR = "G. Hager",
TITLE = "Information Maps for Active Sensor Control",
TYPE = "GRASP lab memo",
NUMBER = "MS-CIS-87-07",
INSTITUTION = "University of Pennsylvania",
MONTH = "February",
YEAR = "1987" )

@TECHREPORT( hager87b,
AUTHOR = "G. Hager and M. Mintz",
TITLE = "Estimation Procedures for Robust Sensor Control",
TYPE = "GRASP lab memo",
NUMBER = "MS-CIS-87-08",
INSTITUTION = "University of Pennsylvania",
MONTH = "February",
YEAR = "1987" )


@PHDTHESIS( hager88,
AUTHOR = "G. Hager",
TITLE = "Active Reduction of Uncertainty in Multi-Sensor Systems",
SCHOOL = "University of Pennsylvania",
YEAR = "1988" )

@INCOLLECTION( hager88a,
AUTHOR = "G. Hager and H. F. Durrant-Whyte",
TITLE = "Information and Multi-Sensor Coordination",
BOOKTITLE = "Uncertainty in Artificial Intelligence 2",
PUBLISHER = "Elsevier Science Publishers",
PAGES = "381-394",
YEAR = "1988" )

@book( hager90,
author = "G. Hager",
title = "Task-directed Sensor Fusion and Planning: A Computational Approach",
publisher = "Boston: Kluwer Academic Publishers",
year = "1990")

@inproceedings( hager92,
author = "G. Hager",
title = "Constraint Solving Methods and Sensor-Based Decision Making",
booktitle = ieeeicra,
address = "Nice,
 France",
month = "May",
pages = "1662-1667",
year = "1992")

@InProceedings{hagit98,
  author = 	 {H. Shatkay and L. P. Kaelbling},
  title = 	 {Heading in the Right  Direction},
  booktitle = 	 {Proceedings of the Fifteenth  International Conference on Machine Learning},
  year =	 1998
}

@inproceedings( hallam83,
author = "J. Hallam",
title = "Resolving Observer Motion by Object Tracking",
booktitle = "Proc. Int. Joint Conf. Artificial Intelligence",
year = "1983" )


@PHDTHESIS( hallam84,
AUTHOR = "J. Hallam",
TITLE = "Intelligent Automatic Interpretation of Active Marine Sonar",
SCHOOL = "University of Edinburgh",
YEAR = "1984" )

%   annote =	 {This article uses MHT for concurrent mapping and
% 		  localization, but with the vehicle position known
% 		  exactly. Basically this was \cite{CL94} with out the
% 		  changing environment, but with some more emphasis on
% 		  sonar modeling. The paper almost seemd like a
% 		  plagriaism of earlier work by Leonard... Paper had a
% 		  {\em very} bad literature review! Most reason
% 		  citation out of the 9 citations was from 1992!}


@incollection( hallam89,
author = "J. C. T. Hallam",
title = "Signal Processing and Signal Understanding",
booktitle = "Underwater Acoustic Data Processing",
publisher = "Dordrecht: Kluwer Academic Publishers",
pages = "545-560",
year = "1989")

@misc( halsema92,
author = "John A. Halsema",
title = "A High Resolution Wide-band Sonar Using Coded Noise-like
Waveforms and a Parametric Transmit Array",
note = "Ocean Engineer Thesis, MIT",
month = "February",
year = "1992")

@inproceedings( hampson82,
author = "D. J. Jampson",
title = "Advanced Manipulators",
booktitle = "Advanced Systems for Underwater Vehicles",
organization = "Society for Underwater Technology",
month = "February",
year = "1982")

@article( haralich83,
author = "R. Haralich and L. Watson and T. Laffey",
title = "The Topographic Primal Sketch",
journal = ijrr,
number = "1",
volume = "2",
pages = "50-72",
year = "1983")

@article( haralich83b,
author = "R. Haralich",
title = "Ridges and Valleys on Digital Images",
journal = "Computer Vision, Graphics, and Image Processing",
volume = "22",
pages = "28-38",
year = "1983")

@ARTICLE( harmon87,
AUTHOR = "S. Y. Harmon",
TITLE = "The Ground Surveillance Robot ({GSR}): An Autonomous Vehicle Designed to Transit Unknown Terrain",
JOURNAL = "{IEEE} Journal of Robotics and Automation",
VOLUME = "RA-3", 
NUMBER = "3",
PAGES = "266-279",
MONTH = "June",
YEAR = "1987" )

@INPROCEEDINGS( harmon88,
AUTHOR = "S. Y. Harmon",
TITLE = "A Report on the {NATO} Workshop on Mobile Robot Implementation",
BOOKTITLE = ieeeicra,
ORGANIZATION = "{IEEE}",
PAGES = "604-610",
YEAR = "1988" )


@article( harris78,
author = "F. J. Harris",
title = "On the use of windows for harmonic analysis with the discrete
fourier transform",
journal = "Proceedings of the {IEEE}",
volume = "66",
number = "1",
month = "January",
pages = "51-83",
year = "1978")



@inproceedings( harris87b,
	author = " C. G. Harris and J. M. Pike ",
	title = "3{D} Positional Integration from Image Sequences",
	booktitle = " 3rd Alvey Vision Conference ",
	pages = "233-236",
	year = "1987" )

@ARTICLE( hashemipour88,
AUTHOR = "H. Hashemipour and S. Roy and A. Laub",
TITLE = "Decentralized Structures for Parallel {K}alman Filtering",
JOURNAL = "{IEEE} Transactions on Automatic Control",
VOLUME = "AC-33",
NUMBER = "1",
PAGES = "88-93",
MONTH = "January",
YEAR = "1988" )

@book( hassab,
author = "J. C. Hassab",
title = "Underwater signal and data processing",
publisher = "Boca Raton, Florida: CRC Press",
year = "1989")

@incollection( hatakeyama90,
author = "Y. Hatakeyama and H. Soeda",
title = "Studies of Echolocation of Porpoises Taken in Salmon Gilnet Fisheries",
editor = "J. A. Thomas and R. A. Kastelein",
booktitle = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
pages = "269-282",
year = "1990")

@incollection( havlice86,
author = "J. F. Havlice and J. C. Taenzer",
title = "Medical Ultrasonic Imaging: An Overview of Principles and
Instrumentation",
editor = "H. Lee and G. Wade",
booktitle = "Modern Acoustical Imaging",
publisher = "IEEE Press",
pages = "7-28",
note = "Reprinted from {\em Proc. IEEE}, Volume 67, pp. 620-641, Apr.\ 1979",
year = "1986")

%% JOURNAL = "Journal of Robotic Systems",
%% aYEAR = "1985" )

@book( hawkins94,
editor = "H. L. Hawkins and T. A. McMullen and A. N. Popper and R. R. Fay",
title = "Auditory Computation",
publisher = "Springer-Verlag",
year = "1994")

@misc( hawkins97,
author = "H. Hawkins",
title = "Biosonar Research Program",
organization = "Office of Naval Research",
note = "http://www.onr.navy.mil/sci%5Ftech/personnel/onrpgakp.htm",
year = "1997")

@article( hayes92,
author = "M. Hayes and P. Gough",
title = "Broad-band Synthetic Aperture Sonar",
journal = ieeejoe,
volume = "17",
number = "1",
month = "January",
pages = "80-94",
year =  "1992")

@book (haykin92,
editor = "S. Haykin and S. Steinhardt",
title = "Adaptive Radar Detection and Estimation",
publisher = "New York: John Wiley and Sons",
year = "1992")

@book( haykin93,
editor = "S. Haykin and J. Litva and T. J. Shepherd",
title = "Radar Array Processing",
publisher = "Berlin: Springer-Verlag",
year = "1993")

@book( haykin94,
author = "S. Haykin",
title = "Neural Networks",
publisher = "Prentice-Hall",
year = "1993")

@article( hayman79,
author = "A. J. Hayman and J. P. Weight",
title = "Transmission and reception of short ultrasonic pulses by
circular and square transducers",
volume = "66",
journal = jasa,
month = "October",
number = "4",
pages = "945-951",
year = "1979")

@inproceedings( healey90,
	key="Healey",
	author="A. Healey and R. McGhee and R. Cristi and F. Papoulias
and S. Kwak and Y. Kanayama and Y. Lee",
	title="Mission Planning, Execution, and Data Analysis for the
		NPS {AUV II} Autonomous Underwater Vehicle",
	pages="177-186",
	editors="Lee, M. J. and McGhee, R. B.",
	booktitle="Proceedings of the IARP 1st Workshop on Mobile
		Robots for Subsea Environments",
	institution="International Advanced Robotics Programme",
	address="Monterey, CA, USA",
	month="October",
	year=1990)

@INPROCEEDINGS( healey96,
AUTHOR = "A. J. Healey and R. B. Marco and R. B. McGhee",
TITLE = "Autonomous Underwater Vehicle Control Coordination Using a Tri-Level Hybrid Software Architecture",
BOOKTITLE = ieeeicra,
MONTH = "April",
YEAR = "1996" )

@book( hebert94,
editor = "M. Hebert and J. Ponce and T. Boult and A. Gross",
title = "Object Representation in Computer Vision",
publisher = "Springe-Verlag",
notes = "Lecture Notes in Computer Science Volume 994",
year = "1994")

@INPROCEEDINGS( hebert96,
AUTHOR = "P. H\'{e}bert and S. {Betg\'{e}-Brezetz}  and R. Chatila",
TITLE = "Decoupling Odometry and Exteroceptive Perception in Building
a Global World Map of a Mobile Robot: The Use of Local Maps",
BOOKTITLE = ieeeicra,
MONTH = "April",
pages = "757-764",
YEAR = "1996" )

@inproceedings( heckman73,
author = "D. B. Heckman and R. C. Abbott",
title = "An Acoustic Navigation Technique",
booktitle = "IEEE Oceans '73",
pages = "591-595",
year = "1973" )


@INPROCEEDINGS( heel90,
AUTHOR = "J. Heel",
TITLE = "Direct Dynamic Motion Vision",
BOOKTITLE = ieeeicra,
ORGANIZATION = "{IEEE}",
PAGES = "1142-1147",
YEAR = "1990" )

@inproceedings( heel90b,
author = "J. Heel",
title = "Temporally Integrated Surface Reconstruction",
booktitle = iccv,
pages = "292-295",
year = "1990",
address = "Osaka, Japan" )



@phdthesis( heel91,
author = "J. Heel",
title = "Temporal Surface Reconstruction",
school = "MIT",
year ="1991")

@incollection( heitmeyer85,
author = "R. Heitmeyer and W. Mosely and R. Fizell",
title = "Full Field Ambiguity Function Processing in a Complex,
Shallow-Water Environment",
booktitle = "High Resolution Spatial Processing in Underwater
Acoustics",
editor = "R. A. Wystaff and A. B. Baggeroer",
publisher = "Washington, D. C.: U.S. Government Printing Office",
pages = "171-191",
year = "1985")

@ARTICLE( henderson84,
AUTHOR = "T. C. Henderson and W. S. Fai and C. Hansen",
TITLE = "{MKS}: A Multisensor Kernel System",
JOURNAL = "{IEEE} Transactions on Systems, Man, and Cybernetics",
VOLUME = "SMC-14",
NUMBER = "5",
MONTH = "September",
YEAR = "1984" )
% number? 1985-570-276

@ARTICLE( henderson85,
AUTHOR = "T. Henderson and C. Hansen and B. Bhanu",
TITLE = "The Specification of Distributed Sensing and Control" )

@article( henderson_terry87,
author = "Terry L. Henderson",
title = "Wide-Band Monopulse Sonar: Processor Performance in the
Remote Profiling Application",
journal = ieeejoe,
volume = "12",
number = "1",
month = "January",
pages = "182-197",
year = "1987")


@article( hermand88,
author = "J. Hermand and W. Roderick",
title = "Delay-Doppler Resolution Performance of Large
Time-Bandwidth-Product Linear FM Signals in a multipath environment",
journal = jasa,
volume = "84",
number = "5",
pages = "1709-1727",
year = "1988")

@incollection( hert96,
author = "S. Hert and S. Tiwari and V. Lumelsky",
title = "A Terrain-Covering Algorithm for an {AUV}",
booktitle = "Underwater Robots",
publisher = "Kluwer Academic Publishers",
editor = "J. Yuh and T. Ura and G. A. Bekey",
pages = "17-45",
year = 1996)

@book( hewson63,
author = "J. B. Hewson",
title = "A History of the Practice of Navigation",
publisher = "Glasgow: Brown, Son, and Ferguson",
year = "1963")


@InProceedings{ higuchi86,
  author = 	 {Higuchi, K. and Suzuki, k. and Tanigawa, H.},
  title = 	 { Ultrasonic phased array transducer for acoustic
                  imaging in air },   
  booktitle = 	 {Proceedings IEEE Ultrasonic Symp.}, 
  year = 	 {1986},
}

@article( higuchi95,
author = "K. Higuchi and M. Hebert and K. Ikeuchi",
title = "Building 3-{D} Models from Unregistered Range Images",
journal = cvgip,
volume = "57",
number = "4",
month = "July",
pages = "315-333",
year = "1995")

@book( hill86,
editor = "C. R. Hill",
title = "Physical Principles of Medical Ultrasonics",
publisher ="Chichester,
 UK: Ellis Horwood Limited",
year = "1986")

@article( hillenbrand97,
author = "C. Hillenbrand",
title = "{UUV} Science and Technology Trends",
journal = "Sea Technology",
month = "December",
pages = "10-15",
year = "1997")

@BOOK( hillis85,
AUTHOR = "D. Hillis",
TITLE = " The Connection Machine",
PUBLISHER = "MIT Press",
YEAR = "1985" )

@INPROCEEDINGS( hinkel88,
AUTHOR = "R. Hinkel and T. Knieriemen and E. von Puttkamer",
TITLE = "MOBOT-{III} An Autonomous Mobile Robot for Indoor Applications",
BOOKTITLE = "International Symposium and Exhibition on Robots",
ADDRESS = "Sydney, Australia",
PAGES  = "489",
YEAR = "1988" )

@inproceedings( hinrichs76,
	key="Hinrichs",
	author="P. R. Hinrichs",
	title="Advanced Terrain Correlation Techniques",
	pages="89-96",
	booktitle="Record of the 1976 Position Location and
		Navigation Symposium",
	institution="IEEE Aerospace and Electronic Systems Society",
	year=1976)

@ARTICLE( hoffman85,
AUTHOR = "D. Hoffman and W. Richards",
TITLE = "Parts of recognition",
JOURNAL = "Cognition",
VOLUME = "18",
PAGES = "65-96",
YEAR = "1985" )

@inproceedings( hollerbach86,
author = "J. M. Hollerbach and S. Narasimhan and J. E. Wood",
title = "Finger force computation without the grip {J}acobian",
booktitle = ieeeicra,
address = "San Francisco",
pages = "871--875", year = 1986)

@incollection( hollerbach92,
author = "J. Hollerbach and I. Hunter and J. Ballantyne",
title = "A Comparitive Analysis of Actuator Technologies for Robotics",
booktitle = "The Robotics Review II",
publisher = "MIT Press",
pages = "299-342",
year = "1992")

@book( holton92,
author = "J. R. Holton",
title = "An Introduction to Dynamic Meteorology",
year = "1992",
publisher = "San Diego, CA: Academic Press")

@inproceedings( hoppen90,
author = "P. Hoppen and T. Knieriemen and E. von Puttkamer",
title = "Laser-Radar based Mapping and Navigation for an Autonomous
Mobile Robot",
booktitle=ieeeicra,
page="948",
year=1990
)

@BOOK( horn86,
AUTHOR = "B. K. P. Horn",
TITLE = "Robot Vision",
PUBLISHER = "MIT Press",
YEAR = "1986" )

@article( hostetler83,
title = "Nonlinear {K}alman Filtering Techniques for Terrain-Aided Navigation",
author = "L. Hostetler and R. Andreas",
journal = ieeeac,
month = "March",
pages = "315-323",
volume = "28",
year = "1983");

@Inproceedings( hottel91,
        Title = "Praxiteles: A Geometric Modeling and Interrogation System",
      	Author = "Hottel, G. R. and Tuohy, S. T. and Alourdas, P. G. and Patrikalakis, N. M.",
        Key = "Hottel",
        year = "1991",
        Booktitle = "Marine Computers '91: Proceedings of the Second Symposium on Computer Applications in the Marine Industry",
	address = "Burlington, MA",
	note = "Paper CC5",
        month = "September",
        organization = "SNAME, New England Section")

@misc( hover95a,
author = "F. Hover",
title = "Physical Modeling of the {O}dyssey {II} Vehicle",
institution = "MIT Sea Grant College Program",
year = "1995")

@misc( hover95b,
author = "F. Hover",
title = "Control System Design of the {O}dyssey {II} Vehicle",
institution = "MIT Sea Grant College Program",
year = "1995")

@inproceedings( howe90,
author = "R. D. Howe and N. Popp and P. Akella and I. Kao and M. R. Cutkosky",
title = "Grasping, Manipulation, and Control with Tactile Sensing",
booktitle = ieeeicra,
pages = "1258--1263", year = 1990 )

@incollection( howe92,
author = "R. Howe and M. Cutkosky",
title = "Touch Sensing for Robotic Manipulation and Recognition",
booktitle = "The Robotics Review II",
publisher = "MIT Press",
pages = "55-112",
year = "1992")

@INPROCEEDINGS( hu89,
AUTHOR = "H. Hu and P. J. Probert and B. Y. S. Rao",
TITLE = "A Transputer Architecture for Sensor-based Autonomous Mobile Robots",
BOOKTITLE = iros,
YEAR = "1989" ) 

@article( hubbard80,
author = "M. Hubbard",
title = "Human Control of the Skateboard",
journal = "J. Biomechanics",
volume = "13",
pages = "745-754",
year = "1980" )

@techreport( humphrey91,
author = "D. Humphrey",
title = "Macintosh-based Sea Squirt Simulation",
institution = "Charles Stark Draper Laboratory Memo",
month = "March",
year = "1992")

@inproceedings( hung89,
AUTHOR = "S. Hung",
TITLE =  "A Description of the Environment from the Data of Stereo Vision Assisted by a Single Sonar Sensor",
BOOKTITLE = sifir,
ADDRESS = "Zaragoza, Spain",
PAGES = "294-299",
YEAR = "1989" )

@techreport( hunt74,
author = "M. Hunt and W. Marquet and D. Moller and K. Peal and W.
Smith and R. Spindel",
title = "An Acoustic Navigation System",
number = "{WHOI-74-6}",
institution = "Woods Hole Oceanographic Institution",
year = 1974 )

@book( hunt78,
author = "K. H. Hunt",
title = "Kinematic Geometry of Mechanisms",
publisher = "Oxford University Press",
year = 1978 )

@incollection( hutchins90,
author = "D. A. Hutchins and G. Hayward",
title = "Radiated Fields of Ultrasonic Transducers",
booktitle = "Physical Acoustics XIX: Ultrasonic Measurement Methods",
publisher = "Academic Press",
year = "1990")


@misc( imetrix98,
author = "Imetrix~Inc.",
title = "{\tt http://www.imetrix.com}",
year = "1998")

@mastersthesis( ingold92,
author = "B. W. Ingold",
title = "Key feature identification from image profile segments using
a high frequency sonar",
school = "Naval Postgraduate School",
month = "December",
year = "1992")

@INPROCEEDINGS( inoue85,
AUTHOR = "H. Inoue and H. Mizoguchi and Y. Murata and M. Inaba",
TITLE = "A Robot Vision System With Flexible Multiple Attention Capability",
BOOKTITLE = "1985 International Conference on Advanced Robotics",
PAGES = "199-206",
YEAR = "1985" )

@INPROCEEDINGS{inproceedings:julier97a,
	AUTHOR="S. J. Julier{~and J. K. Uhlmann}",
	TITLE="{A New Extension of the Kalman Filter to Nonlinear
Systems}",
	BOOKTITLE="The Proceedings of AeroSense: The 11th
		  International Symposium on Aerospace/Defense
		  Sensing, Simulation and Controls, Orlando,
		  Florida",
        PUBLISHER="SPIE",
        NOTE="Multi Sensor Fusion, Tracking and Resource Management II",
	YEAR="1997"	} 

@INPROCEEDINGS{inproceedings:julier97b,
	AUTHOR="S. J. Julier{~and J. K. Uhlmann}",
	TITLE="{A Consistent, Debiased Method for Converting Between Polar
and Cartesian Coordinate Systems}",
	BOOKTITLE="The Proceedings of AeroSense: The 11th
		  International Symposium on Aerospace/Defense
		  Sensing, Simulation and Controls, Orlando,
		  Florida",
        NOTE="Acquisition, Tracking and Pointing XI",
        PUBLISHER="SPIE",
        YEAR="1997"	}

@INPROCEEDINGS{inproceedings:julier97c,
	AUTHOR="S. J. Julier{~and J. K. Uhlmann}",
	TITLE="{A Non-divergent Estimation Algorithm in the Presence of Unknown
Correlations}",
	YEAR="1997",
	BOOKTITLE="American Control Conference, Albuquerque, New Mexico."	}

@INPROCEEDINGS{inproceedings:julier98a,
	AUTHOR="S. J. Julier",
	TITLE="{A Skewed Approach to Filtering}",
	BOOKTITLE="The Proceedings of AeroSense: The 12th
		  International Symposium on Aerospace/Defense
		  Sensing, Simulation and Controls, Orlando,
		  Florida",
        PUBLISHER="SPIE",
        NOTE="Signal and Data Processing of Small Targets",
	YEAR="1998"	}

@INPROCEEDINGS{inproceedings:uhlmann96,
	AUTHOR="J. K. Uhlmann",
	TITLE="{General Data Fusion for Estimates with Unknown Cross Covariances}",
	BOOKTITLE="Proceedings of the SPIE AeroSense Conference, Orlando, Florida",
	YEAR="1996"	}

@UNPUBLISHED{inproceedings:uhlmann97,
	AUTHOR="J. K. Uhlmann{, S. J. Julier and M. Csorba}",
	TITLE="{Nondivergent Simultaneous Map Building and Localisation
using Covariance Intersection}",
	BOOKTITLE="The Proceedings of AeroSense: The 11th
		  International Symposium on Aerospace/Defense
		  Sensing, Simulation and Controls, Orlando,
		  Florida",
        NOTE="{Navigation and Control Technologies for Unmanned Systems II}",
        PUBLISHER="SPIE",
        YEAR="1997"	}

@BOOK( isaacs64,
AUTHOR = "R. Isaacs",
TITLE = "Differential Games",
PUBLISHER = "John Wiley and Sons",
YEAR = "1964" )

@book( ishimaru78,
author = "A. Ishamaru",
title = "Wave propagation and scattering in random media",
publisher = "Orlando, Florida: Academic Press",
year = "1978")


@inproceedings( jacobsen89,
author = "S. Jacobsen and S. Ko and E. Iversen and C. Davis",
title = "Antagonistic Control of Tendon Driven Manipulators",
booktitle = ieeeicra,
address = "Scottsdale, AZ",
month = "May",
year = "1989")

@inproceedings( jacobsen89b,
author = "S. Jacobsen and E. Iversen and C. Davis and D. Potter and T. McLain",
title = "Design of a Multiple Degree of Freedom, Force Reflective Master/Slave
Hand with a High Mobility Wrist",
booktitle = "American Nuclear Society, Topical Meeting on Robotics and Remote
Systems",
adddress = "Charleston, SC",
month = "March",
year = "1989")

@inproceedings( jacobsen90,
author = "S. Jacobsen and F. Smith and E. Iversen and D. Backman",
title = "High Performance, High Dexerity, Force Reflective Teleoperator",
booktitle = "American Nuclear Society, Winter Meeting", 
address = "Washington, {D.C.}",
month = "November",
year = "1990")

@inproceedings( jacobsen91,
author = "S. Jacobsen and F. Smith and D. Backman",
title = "High Performance, Dexerous Telerobotic Manipulation with Force
Reflection",
booktitle = "Intervention/{ROV} '91",
address = "Albuquerque, New Mexico",
month = "February",
year = "1991")

@inproceedings( jacobsen91b,
author = "S. Jacobsen and F. Smith and D. Backman and E. Iversen",
title = "High Performance, High Dexerity, Force Reflective Teleoperator {II}",
booktitle = "American Nuclear Society, Topical Meeting on Robotics and Remote
Systems", 
address = "Albuquerque, New Mexico",
month = "February",
year = "1991")

@book( jaffe71,
author = "B. Jaffe and W. R. Cook and H. Jaffe",
title = "Piezoelectric Ceramics",
publisher = "New York: Academic Press",
year = "1971")

@inproceedings( jaffe87,
author = "J. S. Jaffe",
title = "Multimode Imaging for Underwater Robots",
booktitle = "SPIE International Symposium on Pattern Recognition and
Acoustical Imaging",
volume = "768",
pages = "107-111",
year = "1987")

@article( jaffe88,
author = "J. Jaffe and P. Cassereau",
title = "Multibeam Imaging Using Spatially Invariant Insonification",
journal = jasa,
month = "April",
pages = "1458-1464",
year = "1988")

@incollection( jaggard90,
author = "D. L. Jaggard",
title = "On Fractal Electrodynamics",
booktitle = "Recent Advances in Electromagnetic Theory",
publisher = "New York: Springer Verlag",
pages = "183-224",
year = "1990")

@book( jain90,
author = "R. C. Jain and A. K. Jain",
title = "Analysis and Interpretation of Range Images",
publisher = "Springer-Verlag",
year = "1990")

@book( jain93,
editor = "A. K. Jain and P. J. Flynn",
title = "Three-dimensional Object Recognition Systems",
publisher = "Elsevier Science Publishers",
year = "1993")

@book( james86,
author = "G. L. James",
title = "Geometrical Theory of Diffraction for Electromagnetic Waves",
publisher = "London: Peter Peregrinus",
year = "1986")


@article( jameson87,
author = "J. W. Jameson and L. J. Leifer",
title = "Automatic grasping:  An optimization approach",
journal = ieeesmc,
volume = "SMC-17", number = 5,
pages = "806--814", year = 1987)

@book( janes_uw90,
author = "B. Blake (Editor)",
title = "Jane's Underwater Warfare Systems",
publisher = "Coulsdon: Jane's Information Group",
year = "1990")

@article( jarvis83,
author = "R. Jarvis",
title = "A Perspective on Range Finding Techniques for Computer Vision",
JOURNAL = "{IEEE} Transactions on Pattern Analysis and Machine Intelligence",
VOLUME = "PAMI-5",
NUMBER = "2",
PAGES = "122-139",
MONTH = "March",
YEAR = "1983" )

@INCOLLECTION( jarvis87,
AUTHOR = "R. Jarvis and J. Byrne",
TITLE = "An Automated Guided Vehicle with Map Building and Path
Finding Capabilities",
BOOKTITLE = "4th International Symposium on Robotics Research",
PUBLISHER = "MIT Press",
PAGES = "497-504",
YEAR = "1987" )  

		  
@book( jazwinski70,
author = "A. Jazwinski",
title = "Stochastic Processes and Filtering Theory",
publisher = "Academic Press",
year = "1970" )

@book( jensen94,
author = "F. B. Jensen and W. A. Kuperman and M. B. Porter and H.
Schmidt",
title = "Computational Ocean Acoustics",
publisher = "New York: AIP Press", 
year = "1994")


@article( jezek84,
author = "K. Jezek and T. Stanton and A. Gow and M. Lange",
title = "Influence of Environmental Conditions on Acoustical Properties of Sea Ice",
journal = jasa,
month = "October",
volume = "88",
number = "4",
year = "1990")

@inproceedings( jircitano90,
	key="Jircitano",
	author="A. Jircitano and J. While and D. Dosch",
	title="Gravity Based Navigation of {AUV}'s",
	pages="177-180",
	booktitle="Proceedings of the Symposium on Autonomous
		Underwater Vehicle Technology",
	institution="Oceanic Engineering Society of the IEEE",
	address="Washington, DC, USA",
	month="June",
	year=1990)

@book( johnson73,
author = "E. Johnson and D. Katcher",
title = "Mines Against Japan",
publisher = "Silver Spring, MD: Naval Ordnance Laboratory",
year = "1973")

@book( johnson93,
author  = "D. Johnson and D. Dudgeon",
title = "Array Signal Processing",
publisher = "Prentice Hall",
year = "1993")

@book( jones79,
author = "D. S. Jones",
title = "Methods in Electromagnetic Wave Propagation",
publisher = "Oxford University Press",
year = "1979")

@BOOK( jones80,
AUTHOR = "A. J. Jones",
TITLE = "Game Theory: Mathematical Models of Conflict",
PUBLISHER = "Ellis Horwood Limited",
YEAR = "1980" )

@book( jones84,
author = "D. S. Jones",
title = "Acoustic and Electromagnetic Waves",
publisher = "Oxford: Clarendon Press",
year = "1986")
 
@article( jones93,
author = "H. W. Jones",
title = "Recent Activity in Ultrasonic Tomography",
journal = "Ultrasonics",
volume = "31",
number = "5",
pages = "353-360",
year = "1993")

@article( jones93a,
author = "H. Jones and J. Marshall",
title = "Convection with rotation in a neutral ocean: a study of open
ocean deep convection",
journal = "Journal of Physical Oceanography",
volume = "23",
month = "June",
pages = "1009-1039",
year = "1993")

@inproceedings( jouny91,
author = "I. Jouny and F. Garber and R. Moses and E. Walton",
booktitle = spieaor,
pages = "142-153",
volume = "1471",
address = "Orlando, FL",
year = "1991")

@article( julesz81,
	author = "B. Julesz",
	title = "Textons, the elements of texture perception, and
their interactions",
	year = 1981,
	volume = 290,
	number = 5802,
	pages = "1-7",
	journal = "Science"
)


@book( junger86,
author = "M. C. Junger",
title = "Sound, Structures, and their Interaction",
publisher = "MIT Press",
year = "1986")

@ARTICLE( kabuka87,
AUTHOR = "M. R. Kabuka and A. E. Arenas",
TITLE = "Position Verification of a Mobile Robot Using Standard Pattern",
JOURNAL = "{IEEE} Journal of Robotics and Automation",
VOLUME = "RA-3", 
NUMBER = "6",
PAGES = "505-516",
MONTH = "December",
YEAR = "1987" ) 

@INPROCEEDINGS( kadonoff87,
AUTHOR = "M. Kadonoff",
TITLE = "Prolog-Based World Models for Mobile Robot Navigation",
BOOKTITLE = "Proc. {SPIE} Conference on Mobile Robots {II}",
VOLUME = "852",
PAGES = "305-310",
YEAR = "1987" ) 

@InProceedings{kaelbling96,
  author = 	 {L.  P. Kaelbling and  A. R. Cassandra and J. A. Kurien},
  title = 	 {Acting Under Uncertainty: Discrete {B}ayesian Models for Mobile-Robot Navigation},
  booktitle = 	 {Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year =	 1996
}

@book( kaharl90,
author = "V. A. Kaharl",
title = "Water baby: the story of {A}lvin",
publisher = "Oxford University Press",
year = "1990")

@techreport( kahn84,
author = "Kahn W. D.",
title =  "Accuracy of Mapping the Earth's Gravity Field Fine Structure
		  with a Space Borne Gravity Gradiometer Mission",
institution = "{NASA} {G}oddard {G}eodynamic {B}ranch",
number = "N.84-30473",
year = 1984)

@BOOK( kalman69,
AUTHOR = "R. E. Kalman and P. L. Falb and M. A. Arbib",
TITLE = "Topics in mathematical systems theory",
PUBLISHER = "Mc Graw Hill",
YEAR = "1969" )

@article( kamgar-parsi89,
author = "B. Kamgar-Parsi and L. Rosenblum and F. Pipitone and
L. Davis and J. Jones",
title = "Toward an Automated System for a Correctly
Registered Bathymetric Chart", 
journal = ieeejoe,
year = "1989",
volume = "14",
number = "4",
month = "October",
pages = "314-325")

@inproceedings( kamgar-parsi95,
author = "B. Kamgar-Parsi and B. Johnson",
title = "Reconstruction and Visualization of Underwater Objects from
High-Resolution Acoustic Lens Data",
booktitle = "Proceedings of the Autonomous Vehicles in Mine
Countermeasures Symposium",
pages = "6-201 -- 6-219",
publisher = "Naval Postgraduate School",
year = "1995")

@inproceedings( kamgar-parsi97,
author = "B. Kamgar-Parsi and B. Kamgar-Parsi",
title = "Registration Algorithms for Making Accurate Geophysical Maps",
booktitle = "IEEE Oceans '97",
year = "1997" )


@inproceedings( karl92,
author = "H. A. Karl",
title = "Techniques of Basic Marine Geological Research: Application
to Environmental Management",
booktitle = "Scientific and Environmental Data Collection with
Autonomous Underwater Vehicles",
organization = "MIT Sea Grant Marine Industry Collegium",
address = "Cambridge, MA",
month = "March",
year = "1992")

@misc( katakani88,
author = "K. Kanatani",
title = "Group Theoretical Methods in Image Understanding",
year = "1988" )

@article( kay61,
author = "L. Kay",
title = "Orientation of Bats and Men by Ultrasonic Echo Location",
journal = "British Communications and Electronics",
year = "1961")

@incollection( kay86,
author = "L. Kay",
title = "Airborne Ultrasonic Imaging of a Robot Workspace",
booktitle = "Robot Sensors, Volume 2: Tactile and Non-tactile",
editor = "A. Pugh",
publisher = "Berlin: Springer-Verlag",
pages = "285-296",
year = "1986")

@book( kay93,
author = "S. Kay",
title = "Fundamentals of Statistical Signal Processing: Estimation Theory", 
publisher = "Prentice Hall", 
year = "1993")

@book( kayton89,
author = "M. Kayton",
title = "Navigation: Land, Sea, Air, Space",
publisher = "IEEE Press",
year = "1989")

@article( keller62,
author = "J. B. Keller",
title = "Geometrical Theory of Diffraction",
journal = "Journal of the Optical Society of America",
volume = "52",
number = "2",
pages = "116-130",
month = "February",
year = "1962")

@incollection( kelley92,
author = "R. Kelley and J. Tsai and J. Bethel and J. Peiffer",
title = "{CIRSSE} General Purpose Gripper and Controller System",
booktitle = "Intelligent Robotic Systems for Space Exploration",
publisher = "Boston: Kluwer Academic Publishers",
year = "1992")

@book( kellogg62,
author = "W. N. Kellogg",
title = "Porpoises and Sonar",
publisher = "Pheonix Science Series, University of Chicago Press",
year = "1962")

@book( kendall63,
author = "M. G. Kendall and P. A. P. Moran",
title = "Geometrical Probability",
publisher = "London: Charles Griffin and Company Ltd.",
year = "1963")
		  
@ARTICLE( kenefic81,
AUTHOR = "R. J. Kenefic",
TITLE= "Optimum Tracking of a Maneuvering Target in Clutter",
JOURNAL = "{IEEE} Transactions on Automatic Control",
VOLUME = "AC-26",
NUMBER = "3",
MONTH = "June",
YEAR = "1981" )

@inproceedings( kennaugh58,
author = "E. Kennaugh and R. Cosgriff",
title = "The Use of Impulse Response in Electromagnetic Scattering
Problems", 
booktitle = "IRE National Convention Record, Part 1",
pages = "72-77",
year = "1958",
note = "Reprinted in {\em Ultra-Wideband Radar: Proceedings of the
First Los Alomos Symposium}, {Edited by B. Noel}, Boca Raton: CRC
Press, 1991")

@article( kennaugh65,
author = "E. Kennaugh and D. Moffatt",
title = "The Use of Impulse Response in Electromagnetic Scattering
Problems", 
journal = "Proceedings of the IEEE",
month = "August",
year = "1965",
note = "Reprinted in {\em Ultra-Wideband Radar: Proceedings of the
First Los Alomos Symposium}, {Edited by B. Noel}, Boca Raton: CRC
Press, 1991")

@article( kennaugh81,
author = "E. Kennaugh",
title = "The {K}-pulse concept",
journal = "Proceedings of the {IEEE}",
volume = "29",
pages = "327-331",
year = "1981")

@inproceedings( khatib85,
	author="O. Khatib",
	title="Real-Time Obstacle Avoidance for Manipulators and Mobile Robots",
	booktitle=ieeeicra,
	pages="500--505",
	address="St. Louis",
	month=mar,
	days="25--28",
	year=1985
	)

@book( khatib92,
author = "O. Khatib and J. Craig and T. Lozano-Perez",
title = "The Robotics Review 2",
publisher = "MIT Press",
year = "1992")

@article( kick84,
author = "S. A. Kick and J. A. Simmons",
title = "Automatic Gain Control in the Bat's Sonar Receiver and the
Neuroethology of Echolocation",
journal = "J. Neuroscience",
volume = "4",
pages = "2725-2737",
year = "1984")

@book( kidwell73,
author = "A. M. Kidwell and P. S. Greer",
title = "Sites Perception and the Nonvisual Experience: Designing and
Manufacturing Mobility Maps",
publisher = "New York: American Federation for the Blind, Inc.",
year = "1973")

@inproceedings( kim96,
author = "J. H. Kim and B. A. Moran and J. J. Leonard and
J. G. Bellingham and S. T. Tuohy",
title = "Experiments in remote monitoring and control of autonomous
underwater vehicles",
booktitle = "IEEE Oceans",
pages = "411-416",
year = "1996")

@mastersthesis( kim97,
author = "J. H. Kim",
title = "Remote monitoring and control of autonomous underwater vehicles",
school = "MIT",
note = "(Thesis supervised by J.~Leonard.)",
year = "1997")

@book( kino87,
author = "G. S. Kino",
title = "Acoustic Waves: Devices, Imaging, and Analog Signal
Processing",
publisher = "Prentice-Hall",
address = "Englewood Cliffs, NJ",
year = "1987")

@incollection( kirschvink90,
author = "J. L. Kirschvink",
title = "Geomagnetic Sensitivity in Cetaceans: An Update with Live
Stranding Records in the United States",
editor = "J. A. Thomas and R. A. Kastelein",
booktitle = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
pages = "639-650",
year = "1990")

@techreport( kite-powell91,
	key="Kite-Powell",
	author="H. Kite-Powell and P. Hoagland",
	title="Case Study: Remotely Operated Vehicles",
	note="(Draft)",
	institution="Woods Hole Oceanographic Institution",
	month="August",
	year=1991)

@inproceedings( kleeman92,
 author = "L. Kleeman",
title = "Optimal Position and Heading for Mobile Robots Using
Ultrasonic Beacons and Dead-reckoning",
booktitle = ieeeicra,
address = "Nice, France",
month = "May",
pages = "2582-2587",
year = "1992")

@techreport( kleeman93,
author = "L. Kleeman and R. Kuc",
title = "Mobile Robot Sonar for Target Localization and
Classification",
institution = "Intelligent Sensors Laboratory, Yale University",
number = "ISL-9301",
year = "1993")

@article( kleeman95,
author = "L. Kleeman and R. Kuc",
journal = ijrr,
title = "Mobile Robot Sonar for Target Localization and
Classification",
volume = "14",
number = "4",
year = "1995" )

@techreport( klepsvik92,
author = "John O. Klepsvik",
title = "Seatex Laser Radar: Systems and Applications",
institution = "Seatex Corp., Trondheim, Norway",
number = "SLR/TN/JOK/00392",
year = "1992")

@incollection( klinowska90,
author = "M. Klinowska",
title = "Geomagnetic Orientation in Cetaceans: Behavioural Evidence",
editor = "J. A. Thomas and R. A. Kastelein",
booktitle = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
pages = "651-664",
year = "1990")

@article( knight81,
author = "W. C. Knight and R. G. Pridham and S. M. Kay",
title = "Digital Signal Processing for Sonar",
journal = "Proceedings of the {IEEE}",
volume = "69",
number = "11",
pages = "1451-1506",
month = "November",
year = "1981")

@book( knott93,
author = "E. F. Knott and J. F. Schaeffer and M. T. Tuley",
title = "Radar Cross Section",
publisher = "Boston: Artech House",
note = "Second Edition",
year = "1993")
		  
@misc( knudsen,
author = "D. C. Knudsen",
title = "A New Digital Beamformer for Acoustic Imaging",
)

@inproceedings( ko90,
author = "H. Ko and C. Davius and E. Iversen and S. Jacobsen",
title = "High Stiffness and Low Slew Drag in an Antagonistic Control System",
booktitle = ieeeicra,
address = "Cincinnati, OH",
month = "May",
year = "1990")

@book( koenderink90,
author = "J. J. Koenderink",
title = "Solid Shape",
publisher = "MIT Press",
year = "1990")

@incollection( koivunen94,
author = "V. Koivunen and R. Bajcsy",
title = "Spline Representations in 3-{D} Vision",
editor = "M. Hebert and J. Ponce and T. Boult and A. Gross",
booktitle = "Object Representation in Computer Vision",
publisher = "Springe-Verlag",
notes = "Lecture Notes in Computer Science Volume 994",
pages = "177-190",
year = "1994")

@book( kortenkamp98,
editor = "D. Kortenkamp and R. P. Bonasso  and R. Murphy",
title = "Artificial Intelligence and Mobile Robots",
publisher = "{AAAI} Press",
year = "1998")

@book( kraus84,
author = "J. D. Kraus",
title = "Electromagnetics",
publisher = "New York: McGraw-Hill", 
year = "1984")

@book( krautkramer90,
author = "J. Krautkramer and H. Krautkramer",
title = "Ultrasonic Testing of Materials",
publisher = "Springer-Verlag",
year = "1990",
note = "Fourth english edition")

@INPROCEEDINGS( kriegman87,
AUTHOR = "D. Kriegman and E. Triendl and T. Binford",
TITLE = "A Mobile Robot: Sensing, Planning, and Locomotion",
BOOKTITLE =  ieeeicra,
ORGANIZATION = "{IEEE}",
PAGES = "402",
YEAR = "1987" )


@ARTICLE( kriegman89,
AUTHOR = "D. Kriegman and E. Triendl and T. Binford",
TITLE = "Stereo Vision and Navigation in Buildings for Mobile Robots",
JOURNAL = ieeetra,
VOLUME = "5",
NUMBER = "6",
MONTH = "December",
YEAR = "1989" )

@incollection( kriegman94,
author = "D. J. Kriegman and J. Ponce",
title = "Representations for Recognizing Complex Curved 3D Objects",
editor = "M. Hebert and J. Ponce and T. Boult and A. Gross",
booktitle = "Object Representation in Computer Vision",
publisher = "Springe-Verlag",
notes = "Lecture Notes in Computer Science Volume 994",
pages = "125-138",
year = "1994")




@InProceedings{ kuroda83,
  author = 	 {Kuroda, Shin-ichi and Jitsumori, Akio and Inari, Takahiko},
  title = 	 { Ultrasonic imaging system for robot using electronic scanning method, },
  booktitle = 	 {Int. Conf. on advanced robotics},
  year = 	 {1983},
  address = 	 {Japan},
  pages = 	 {187-193}
}


@incolleciton( kuroda86,
author = "S. Kuraoda and A. Jitsumori and T. Inari",
title = "Ultrasonic Imaging System for Robots using an Electronic
Scanning Method",
booktitle = "Robot Sensors, Volume 2: Tactile and Non-tactile",
editor = "A. Pugh",
publisher = "Berlin: Springer-Verlag",
papges = "271-285",
year = "1986")

@article( kriezis91,
author = "G. Kriezis and N. M. Patrikalakis and F.-E. Wolter",
title = "Topological and Differential Equation Methods for Surface Intersections",
journal = "Computer Aided Design",
note = "To Appear",
year = "1992")
		  

@INPROCEEDINGS( krishnamurthy88,
AUTHOR = "R. Krishnamurthy",
TITLE = "HelpMate: A Mobile Robot for Transport Applications",
BOOKTITLE = "Proc. {SPIE} Conference on Mobile Robots {III}",
VOLUME = "1007",
ADDRESS = "Boston, MA",
YEAR = "1988" )

@book( kritikos90,
editor = "H. N. Kritikos and D. L. Jaggard",
title = "Recent Advances in Electromagnetic Theory",
publisher = "New York: Springer Verlag",
year = "1990")

@INPROCEEDINGS( krotkov89,
AUTHOR = "E. Krotkov",
TITLE = "Mobile Robot Localization Using a Single Image",
BOOKTITLE = ieeeicra,
PAGES  = "978",
YEAR = "1987" )

@book( krotkov89b,
author = "E. Krotkov",
title = "Active Computer Vision by Cooperative Focus and Stereo",
publisher = "New York: Springer Verlag",
year = "1989")

@ARTICLE( kuc87,
AUTHOR = "R. Kuc and M. W. Siegel",
TITLE = "Physically Based Simulation Model for Acoustic Sensor Robot Navigation",
JOURNAL = "{IEEE} Transactions on Pattern Analysis and Machine Intelligence",
VOLUME = "PAMI-9",
NUMBER = "6",
PAGES = "766-778",
MONTH = "November",
YEAR = "1987" )

@INPROCEEDINGS( kuc87b,
AUTHOR = "R. Kuc and M. W. Siegel",
TITLE = "Efficient Representation of Reflecting Structures for a Sonar
Navigation Model",
BOOKTITLE = ieeeicra,
PAGES = "1916",
YEAR = "1987" )


@INPROCEEDINGS( kuc89,
AUTHOR = "R. Kuc and B. Barshan",
TITLE = "Navigating Vehicles Through an Unstructured Environment With Sonar",
BOOKTITLE = ieeeicra,
PAGES = "1422-1426",
MONTH = "May",
YEAR = "1989" )

@ARTICLE( kuc90,
AUTHOR = "R. Kuc",
TITLE = "A Spatial Sampling Criterion for Sonar Obstacle Detection",
JOURNAL = "{IEEE} Transactions on Pattern Analysis and Machine Intelligence",
VOLUME = "PAMI-12",
NUMBER = "7",
PAGES = "686-690",
MONTH = "July",
YEAR = "1990" )

@inproceedings( kuc96,
author = "R. Kuc",
title = "Fusing binaural sonar information for object recognition",
booktitle = "{IEEE/SICE/RSJ} International Conference on Multisensor
Fusion and Integration for Intelligent Systems",
pages = "727-735",
year = "1996")

@INPROCEEDINGS( kuczewski87,
AUTHOR = "R. M. Kuczewski",
TITLE = "Neural Network Approaches to Multi-Target Tracking",
BOOKTITLE = "{IEEE} First International Conference of Neural Networks",
MONTH = "June",
YEAR = "1987" )

@article( kuhl54,
author = "W. Kuhl and G. R. Schodder and F.-K. Shroder",
title = "Condenser Transmitters and Microphonds with Solid Dielectricfor Airborne Ultrasonics",
journal = "Acustica",
volume = "4",
number = "5",
pages = "519-532",
year = "1954")

@inproceedings( kuipers88,
author = "B. J. Kuipers and Y. Byun",
title = "A Robust, Qualitative approach to a Spatial Learning Mobile
Robot", 
editor = "P. S. Schenker",
booktitle = "Sensor Fusion: Spatial Reasoning and Scene Interpretation",
publisher = "Bellingham, WA: SPIE",
volume = "1003",
month = "November",
pages = "366-375",
year = "1988")


@article( kuipers91,
author = "B. J. Kuipers and Y. Byun",
title = "A robot exploration and mapping strategy based on a semantic
heirarchy of spatial representations",
journal = "Robotics and Autonomous Systems",
pages = "47-63",
year = "1991")

@misc( kumpf96,
author = "J. M. Kumpf",
title = "The design of a free swimming robot pike",
note = "B.~S.~Thesis, MIT Dept.\ of Mechanical Engineering",
year = "1996")

@inproceedings( kunii91,
	key="Kunii",
	author="T. L. Kunii and L. Shinagawa",
	title="Visualization: New Concepts and Techniques to Integrate
		Diverse Application Areas",
	pages="3-25",
	editor="Patrikalakis, N. M.",
	booktitle="Proceedings of the 9th International Conference of
		the Computer Graphics Society, CG International '91,
		Scientific Visualization of Physical Phenomena",
	institution="Computer Graphics Society",
	address="Cambridge, MA, USA",
	month="June",
	year=1991)

@article(kuniyoshi94,
author = "Y. Kuniyoshi and M. Inaba and H. Inoue",
title = "Learning by watching:  Extracting reusable task knowledge
                  from visual observation of human performance",
journal = "IEEE Transactions on Robotics and Automation",
month = "December",
number = "6",
volume = "10",
year = "1994")

@incollection( kuperman90,
author = "W. Kuperman and H. Schmidt",
title = "Scattered Fields from Rough Interfaces in Stratified Elastic Media",
booktitle = "Computational Acoustics",
volume = "2",
publisher = "Amsterdam: North-Holland",
pages = "39-48",
year = "1990")

@INCOLLECTION( kurien90,
AUTHOR = "T. Kurien",
TITLE = "Issues in the Design of Practical Multitarget Tracking Algorithms",
BOOKTITLE = "Multitarget-Multisensor Tracking: Advanced Applications",
editor = "Y. Bar-Shalom",
PUBLISHER = "Boston: Artech House",
PAGES = "43-83",
YEAR = "1990" )

@INCOLLECTION( kuritsky90,
AUTHOR = "M. Kuristsky and M. Goldstein",
TITLE = "Inertial Navigation",
BOOKTITLE = "Autonomous Robot Vehicles",
EDITOR = "I. Cox and G. Wilfong",
PUBLISHER = "Springer-Verlag",
YEAR = "1990" )

@incollection( kuznetzov90,
author = "V. B. Kuznetzov",
title = "Chemical Sense of Dolphins: Quasi-olfaction",
editor = "J. A. Thomas and R. A. Kastelein",
booktitle = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
pages = "481-504",
year = "1990")

@article( kwon86,
title = "Channel Capacity in Bits Per Joule",
author = "H. M. Kwon and T. G. Birdsall",
journal = ieeejoe,
month = "January",
volume = "{OE}-11",
number = "1",
pages = "97-99",
year = "1986" )

@inproceedings( laird90,
author = "J. E. Laird and P. S. Rosenbloom",
title = "Integrating, Execution, Planning, and Learning in
		  Soar for External Environments",
booktitle = "Proceedings, {AAAI}-90",
year = 1990,
pages = "1022-1029")

@techreport( lakshminarayana78,
author = "K. Lakshminarayana",
title = "Mechanics of Form Closure",
institution = "ASME",
number = "78-DET-32", year = 1978 )

@inproceedings( lane91,
author = "D. M. Lane and A. G. McFadzean and J. P. Stoner",
title = "Automated Interpretation of Sonar Data",
booktitle = uust,
pages = "294-308",
year = "1991")


@inproceedings( lane91a,
author = "D. M. Lane and M. W. Dunnigan and P. J. Knightbridge and A. W. Quinn
and  A. C. Clegg",
title = "Dual Manipulator Collaboration: Issues in Architecture, Planning and
Control", 
booktitle = uust,
pages = "586-599",
year = "1991")

@INPROCEEDINGS( lang89,
AUTHOR = "S. Lang and L. Korba and A. Wong",
TITLE = "Characterizing and Modelling a Sonar Ring",
BOOKTITLE = "Proc. {SPIE} Conference on Mobile Robots {IV}",
ADDRESS = "Philadelphia, PA",
PAGES = "291-304",
YEAR = "1989" )

@inproceedings( langer91,
author = "D. Langer and M. Hebert",
title = "Building Elevation Maps from Underwater Sonar Data",
booktitle = uust,
pages = "328-341",
year = "1991")

@article( langleben70,
author = "M. P. Langleben",
title = "Reflection of Sound at the Water-Sea Ice Interface",
journal = "Journal of Geophysical Research",
volume = "75",
number = "27",
month = "September",
year = "1970")

@book( latombe91,
author = "J-C. Latombe",
title = "Robot Motion Planning",
publisher = "Boston: Kluwer Academic Publishers",
year = "1991")

@book( lee86,
editor = "H. Lee and G. Wade",
title = "Modern Acoustical Imaging",
publisher = "IEEE Press",
year = "1986")

@inproceedings( lee87,
author = "H. Lee",
title = "Acoustical image reconstruction algorithms: Structure,
performance, sensitivity, and limitation",
booktitle = "SPIE International Symposium on Pattern Recognition and
Acoustical Imaging",
volume = "768",
pages = "34-43",
year = "1987")
%% note = "Also presented at the 2nd IARP Int. Conf. on Multi-Sensor
%% Fusion and Environment Modelling, Oxford, UK, September, 1991")

@inproceedings( lee87b,
author = "H. Lee",
title = "Three-dimensional motion parameter estimation by holographic
acoustical systems",
booktitle = "SPIE International Symposium on Pattern Recognition and
Acoustical Imaging",
volume = "768",
pages = "216-225",
year = "1987")

@INCOLLECTION( lee90,
AUTHOR = "D. T. Lee and A. K. Lin",
TITLE = "Computational Complexity of Art Gallery Problems",
BOOKTITLE = "Autonomous Robot Vehicles",
EDITOR = "I. Cox and G. Wilfong",
PUBLISHER = "Springer-Verlag",
pages = "303-309",
YEAR = "1990" )

@article( lee92,
author = "D. N. Lee and F. R. vad der Weel and T. Hitchcock and E.
Matejowsky and J. Pettigrew",
title = "Common Principle of Guidance by Echolocation and Vision",
journal = "J. of Comparative Physiology A",
publisher = "Springer-Verlag",
volume = "171",
pages = "563-571",
year = "1992")

@article( leeman79,
author = "S. Leeman",
title = "The impediography equations",
journal = "Acoustical Imaging",
volume = "8",
publisher = "New York: Plenum",
year = "1979")

@inproceedings( leeman87,
author = "S. Leeman and L. A. Ferrari",
title = "Tissue Characterization",
booktitle = "SPIE International Symposium on Pattern Recognition and
Acoustical Imaging",
volume = "768",
pages = "28-33",
year = "1987")


@inproceedings( leeman87b,
author = "S. Leeman and D. A. Seggie",
title = "Speckle reduction via phase",
booktitle = "SPIE International Symposium on Pattern Recognition and
Acoustical Imaging",
volume = "768",
pages = "173-177",
year = "1987")


@book( lehman88,
author = "J. F. Lehman, Jr.",
title = "Command of the Seas",
publisher = "New York: Scribners",
year = "1988")

@inproceedings( leibholz83,
	key="Leibholz",
	author="S. W. Leibholz",
	title="Trends in Robotics and Implications for the Marine
		Environment",
	pages="100-105",
	booktitle="Proceedings OCEANS '83, Volume I: Technical
		Papers",
	institution="Marine Technology Society, Oceanic Engineering
		Society, IEEE",
	address="San Francisco, CA, USA",
	month="August",
	year=1983)

@inproceedings( lemay92,
author = "J. LeMay and J. Lamancusa",
title = "Error minimization and redundancy management for a three
dimensional ultrasonic ranging system",
booktitle = iros,
pages = "837-844",
year = "1992")

@incollection( leonard66a,
title = "Aids to Navigation: A Discussion of the Problem of Maps for
Blind Travellers",
author = "J. A. Leonard",
booktitle = "Proceedings of the International Conference on Sensory
Devices for the Blind",
publisher = "London: St.\ Dunstan's",
pages = "9-30",
year = "1966") 

@article( leonard66b,
title = "Towards a unified approach to the mobiity of blind people",
author = "J. A. Leonard",
journal = "Southern Regional Review",
volume = "40",
pages = "1-14",
year = "1966")

@techreport( leonard88,
	title="Active Sensor Control for Mobile Robotics",
	author="J. J. Leonard and H. F. Durrant-Whyte",
	institution=ourrg,
	number="OUEL-1756/89",
	year=1989
)

@techreport( leonard89,
	title="Navigation by Correlating Geometric Sensor Data",
	author="J. J. Leonard and H. F. Durrant-Whyte",
	institution=ourrg,
	number="OUEL-1788/89",
	year=1989
)


@inproceedings( leonard89b,
	title="Active Sensor Control for Mobile Robotics",
	author="J. J. Leonard and H. F. Durrant-Whyte",
	booktitle="IARP Int. Conf. on Multi-Sensor Fusion and Environment Modelling",
	address = "Toulouse, France",
	month = "October",
	year=1989

)

@phdthesis( leonard90,
author = "J. J. Leonard",
title = "Directed Sonar Sensing for Mobile Robot Navigation",
school = "University of Oxford",
year = "1990" )

@INPROCEEDINGS( leonard90b,
AUTHOR = "J. J. Leonard and I. J. Cox and H. F. Durrant-Whyte",
TITLE = "Dynamic Map Building for an Autonomous Mobile Robot",
BOOKTITLE = iros,
PAGES = "89-96",
YEAR = "1990",
note = "Also published in {\em Autonomous Mobile Robots}, edited by S.
Iyengar and A. Elfes, Los Alamitos, CA: IEEE Computer Society Press
1991.")

@inproceedings( leonard90d,
	title="Application of Multi-target Tracking to Sonar-based
Mobile Robot Navigation",
	author="J. J. Leonard and H. F. Durrant-Whyte",
	booktitle = "29th {IEEE} Int. Conference on Decision
and Control",
	year=1990
)


@article( leonard91a,
AUTHOR = "J. J. Leonard and H. F. Durrant-Whyte",
title = "Mobile Robot Localization by Tracking Geometric Beacons",
journal = ieeetra,
month = "June",
volume = "7",
number = "3",
pages = "376-382",
year = "1991")

@INPROCEEDINGS( leonard91b,
AUTHOR = "J. J. Leonard and H. F. Durrant-Whyte",
TITLE = "Simultaneous Map Building and Localization for an Autonomous
Mobile Robot",
BOOKTITLE = iros,
pages = "1442-1447",
address = "Osaka, Japan",
YEAR = "1991")


@inproceedings( leonard91c,
author = "J. Leonard and H. Durrant-Whyte and M. Brady and H. Hu",
title = "Sensor Guided Control of {AGV}s",
booktitle="2nd International Symposium on Experimental Robotics",
address = "Toulouse, France",
month = "June",
year=1991 )

@book( leonard92,
author = "J. J. Leonard and H. F. Durrant-Whyte",
title = "Directed Sonar Sensing for Mobile Robot Navigation",
publisher = "Boston: Kluwer Academic Publishers",
year = "1992" )

@article( leonard92a,
author = "J. J. Leonard and I. J. Cox and H. F. Durrant-Whyte",
title = "Dynamic Map Building for an Autonomous Mobile Robot",
journal = ijrr,
month = "August",
volume = "11",
number = "4",
pages = "286-298",
year = "1992")

@inproceedings( leonard92b,
author = "J. J. Leonard and B. A. Moran",
title = "Sonar Data Fusion for 3-{D} Scene Reconstruction",
booktitle = "SPIE Sensor Fusion V",
editor = "Paul S. Schenker",
month = "November",
address = "Boston, MA",
pages = "144-155",
year = "1992")


@inproceedings( leonard93,
author = "J. J. Leonard and J. G. Bellingham",
title = "Directed Sensing Strategies for Feature-Relative Navigation",
booktitle = "SPIE Sensor Fusion VI",
editor = "Paul S. Schenker",
month = "September",
address = "Boston, MA",
pages = "120-129",
year = "1993")

@INPROCEEDINGS( leonard95a,
AUTHOR = "J. J.  Leonard and B. A. Moran and I. J. Cox and M. L. Miller",
TITLE = "Underwater Sonar Data Fusion Using an Efficient Multiple
Hypothesis Algorithm",
BOOKTITLE = ieeeicra,
PAGES = "2995-3002",
MONTH = "May",
YEAR = "1995" )

@INPROCEEDINGS( leonard95b,
AUTHOR = "J. J.  Leonard and S. T. Tuohy and J. G. Bellingham and B.
A. Moran and J. H. Kim and H. Schmidt and N. M. Patrikalakis and C.
Chryssostomidis",
TITLE = "Virtual Environments for {AUV} Development and Ocean Exploration",
BOOKTITLE = uust,
pages = "436-443",
MONTH = "September",
YEAR = "1995" )

@inproceedings( leonard97a,
author =      "J. J. Leonard and C. M. Smith",
title = "Sensor data fusion in marine robotics",
booktitle = "Proceedings of the International Society of Offshore and
Polar Engineering", 
year = "1997"
)

@inproceedings( leonard98a,
author = "J. J. Leonard and A. A. Bennett and C. M. Smith and H. J. S. Feder",
title = "Autonomous Underwater Vehicle Navigation",
booktitle =  "{IEEE ICRA} Workshop on Navigation of Outdoor Autonomous
Vehicles", 
address = "Leuven, Belguim",  
month = "May",
year = "1998"
)

@techreport( leonard98b,
author = "J. J. Leonard and A. A. Bennett and C. M. Smith and H. J. S. Feder",
title = "Autonomous Underwater Vehicle Navigation",
number = "Marine Robotics Laboratory Technical Memorandum 98-1",
institution = "{MIT}",
year = "1998"
)

@techreport( leonard99a,
author = "J. J. Leonard and H. J. S. Feder",
title = "Decoupled stochastic mapping",
number = "Marine Robotics Laboratory 99-1",
institution = "Massachusetts Institute of Technology",
year = "1999")

@misc( leonard99b,
author = "J. J. Leonard and H. J. S. Feder",
title = "Decoupled stochastic mapping Part {I}: theory",
note = "Submitted for consideration for publication to the IEEE Transactions on Robotics and Automation",
year = "1999")

@inproceedings( leonard99c,
author =      "J. J. Leonard and R. N. Carpenter and H. J. S. Feder",
title = "Stochastic Mapping Using Forward Look Sonar",
booktitle = "International Conference on Field and Service Robotics",
address = "Pittsburgh, Pennsylvania",
month = "August",
year = "1999",
note = "To appear (pending review)",
)

@book( leondes70,
title = "Theory and Applications of Kalman Filtering",
editor = "C. T. Leondes",
publisher = "NATO Advisory Groupe for Aerospace Research and Development",
year = "1970")

@inproceedings ( leung91,
author = "D. Leung and D. Williams",
title = "A Multiple Hypothesis Based Multiple Sensor Spatial Data
Fusion Algorithm",
booktitle = spieaor,
volume = "1471",
pages = "314-325",
address = "Orlando, FL",
year = "1991")

@inproceedings( levine89,
author = "S. Levine and J. Borenstein and T. Pilutti and U. Raschke
and Y. Koren and S. BeMent and N. Kirsch",
title = "Semi-Autonomous Mobile Robot Platform for Rehabilitation and
Other Applications",
booktitle = "IARP 1st Workshop on Domestic Robots and 2nd Workshop on
Medical and Healthcare Robotics",
month = "September",
year = 1989 )


@article( levine95,
author = "E. Levine and D. Connors and R. Shell and T. Gagliardi and
R. Hanson",
title = "Oceanographic Mapping with the {N}avy's Large Diameter {UUV}",
journal = "Sea Technology",
pages = "49-57",
year = "1995")



@article( levitt90,
author = "T. Levitt and D. Lawton",
title = "Qualitative Navigation for Mobile Robots",
journal = "Artificial Intelligence",
volume = "44",
year = "1990",
pages = "305-360")

@incollection( li90,
author = "Z. Li and S. Sastry",
title = "Issues in Dextrous Robot Hands",
crossref = "venkataraman90",
pages = "154--186")

@incollection( lien90,
author = "J. Lien and S. Todd and J. Guigne",
title = "Inferences about Perception in Large Cetaceans, Especially
Humpback Whales, from Incidental Catches in Fixed Fishing Gear,
Enhancement of Nets by ``Alarm'' Devices, and the Acoustics of Fishing Gear",
editor = "J. A. Thomas and R. A. Kastelein",
booktitle = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
pages = "347-362",
year = "1990")



@Article{ lim93,
  author = 	 {Lim, Jong Hwan and Cho, Dong Woo},
  title = 	 { Experimental investigation of mapping and navigation based on certainty grids using sonar sensors },
  journal = 	 {Robotica},
  year = 	 {1993},
  volume = 	 {11},
  number = 	 {1},
  month = 	 {Jan.-Feb.},
  pages = 	 {7-17},
  note = 	 {UK}
}

@phdthesis( lim94,
author = "J. H. Lim",
title = "Map construction, exploration, and position estimation for an
autonomous mobile robot using sonar sensors",
school = "Pohang Institute of Science and Technology, Korea",
year = "1994")

@mastersthesis( loch89,
author = "J. Loch",
title = "Design of a Reflexive Hierarchical Control System for an
Autonomous Underwater Vehicle",
school = "MIT",
year = "1989")

@article( lockwood73,
author = "J. C. Lookwood and J. G. Willette",
title = "High Speed Method for Computing the Exact Solution for thePressure Variations in the Near Field of a Baffled Piston",
journal = jasa,
volume = "53",
pages = "735-741",
year = "1973")

@mastersthesis( logan92,
author = "C. L. Logan",
title = "Robust Control Design and Evaluation for a Small Underwater
Vehicle",
school = "M.I.T. Department Electrical Engineering and Computer Science",
year = "1993")

@article( lohmann92,
author = "K. Lohmann",
title = "How Sea Turtles Navigate",
journal = "Scientific American",
month = "January",
year = "1992")

@INPROCEEDINGS( lowe82,
AUTHOR = "D. G. Lowe and T. O. Binford",
TITLE = "Segregation and aggregation: an approach to figure-ground phenomema",
BOOKTITLE = "Proc. DARPA IU Workshop",
PAGES = "168-178",
MONTH = "September",
YEAR = "1982" )


		  
@BOOK( lowe85,
AUTHOR = "D. G. Lowe",
TITLE = "Perceptual Organization and Visual Recognition",
PUBLISHER = "Boston: Kluwer Academic Publishers",
YEAR = "1985" )




@INPROCEEDINGS( lowe86,
AUTHOR = "D. G. Lowe",
TITLE = "The Viewpoint Consistency Constraint",
BOOKTITLE = "Internation Workshop on Geometric Reasoning",
MONTH = "June",
YEAR = "1986" )


@ARTICLE( lowe87,
AUTHOR = "D. G. Lowe",
TITLE = "Three-Dimensional Object Recognition from Single Two-Dimensional Images",
JOURNAL = "Artificial Intelligence",
VOLUME = "31",
PAGES = "355-395",
YEAR = "1987" )

@inproceedings( lowe90,
author = "D. Lowe",
title = "Integrated Treatment of Matching and Measurement Errors for
Robust Model-Based Motion Tracking",
booktitle = iccv,
pages = "436-440",
year = "1990",
address = "Osaka, Japan" )

@incollection( lozanoperez90,
	author = "T. Lozano-P\'erez",
	editor = "I. J. Cox and G. T. Wilfong",
	booktitle = "Autonomous Robot Vehicles",
	title = "Foreword",
	publisher = "Springer-Verlag",
	year = 1989
)

@book( lozanoperez92,
author = "T. Lozano-Perez and J. L. Jones and E. Mazer and P. A. O'Donnell",
title = "{HANDEY}: A Robot Task Planner",
publisher = "The MIT Press",
year = "1992")

@inproceedings( lucido96,
author = "L. Lucido and B. Popescu and J. Opderbecke and V. Rigaud",
title = "Segmentation of bathymetric profiles and terrain matching for
                  underwater vehicle navigation",
booktitle = "Proceedings of the second annual {W}orld {A}utomation
                  {C}onference",
address = "Montpellier, France",
month = "May",
year = "1996")

@inproceedings( lucido96b,
author = "L. Lucido and  J. Opderbecke and V. Rigaud and  R. Deriche and Z. Zhang",
title = "A terrain referenced underwater positioning using sonar
bathymetric profiles and multiscale analysis", 
booktitle = "IEEE Oceans",
year = "1996")

@inproceedings( lumelsky89,
	author = "V. Lumelsky and S. Mukhopadhyay and K. Sun",
	title = "Sensor-Based Terrain Acquisition: a ``Seed Spreader''
Strategy",
	booktitle = iros,
	year = 1989,
	pages = "62-67"
)

@ARTICLE( luo89,
AUTHOR = "R. Luo and M. Kay",
TITLE = "Multisensor Integration and Fusion in Intelligent Systems",
JOURNAL = ieeesmc,
VOLUME = "19",
NUMBER = "5",
PAGES = "901-931",
MONTH = "September",
YEAR = "1989" )

@inproceedings( lyons85,
author = "D. M. Lyons",
title = "A simple set of grasps for a dextrous hand",
booktitle = ieeeicra,
address = "St.\ Louis, MO",
pages = "588--593", year = 1985)

@inproceedings( mackelburg91,
author = "G. R. Mackelburg",
title = "Acoustic Data Links for {UUV}s",
booktitle = "Oceans '91",
pages = "1400--1406",
year = "1991" )

@book( mackenzie90,
author = "D. Mackenzie",
title = "Inventing Accuracy",
publisher = "MIT Press",
address = "Cambridge, MA",
year = "1990")

@incollection( macovski86,
author = "A. Macovski",
title = "Ultrasonic Imaging Using Arrays",
editor = "H. Lee and G. Wade",
booktitle = "Modern Acoustical Imaging",
publisher = "IEEE Press",
pages = "217-228",
note = "Reprinted from {\em Proc. IEEE}, Volume 67, pp. 484-495, Apr.\ 1979",
year = "1986")

@inproceedings( maes91,
author = "P. Maes",
title = "Learning Behavior networks from experience",
booktitle = "Toward {A} {P}ractice of {A}utonomous {S}ystems: Prodeedings of
		  the first {E}uropean conference on artificial life",
publisher = "MIT Press",
year = 1991,
pages = "48-57")

@Article{maksarov95, 
  author = 	 {D. Maksarov and H. Durrant-Whyte},
  title = 	 {Mobiel vehicle navigation in unknown environments: a
		  multiple hypothesis approach},
  journal = 	 "IEE Proc. Control Theory Appl.",
  year = 	 1996,
  volume =	 142,
  number =	 4,
  month =	 {July}
}

@book( malanotterizzoli94,
title = "Ocean processes in climate dynamics: global and mediterranean
examples",
editor = "P. Malanotte-Rizzoli and A. R. Robinson",
publisher = "Kluwer Academic Publishers",
year = "1994")

@phdthesis( mandelbaum95,
author = "R. Mandelbaum", 
title = "Sensor Processing for Mobile Robot Localization, Exploration,
and Navigation", 
school = "University of Pennsylvania",
year = "1995")

@inproceedings( mann88,
author = "R. Mann and W. Hamel and C. Weisbin",
title = "The Development of an Intelligent Nuclear Maintenance Robot",
booktitle = ieeeicra,
pages = "621",
year = "1988" )

@inproceedings( manyika92,
author = "J. M. Manyika and H. F. Durrant-Whyte",
title = "An Information-theoretic approach to management in
decentralized data fusion",
booktitle = "SPIE Sensor Fusion V",
editor = "Paul S. Schenker",
month = "November",
address = "Boston, MA",
pages = "202-213",
year = "1992")


@book( manyika94,
author = "J. S. Manyika and H. F. Durrant-Whyte",
title = "Data Fusion and Sensor Management: A decentralized
information-theoretic approach",
publisher = "New York: Ellis Horwoord",
year = "1994")

@ARTICLE( maragos87,
AUTHOR = "P. Maragos and R. W. Schafer",
TITLE = "Morphological Filters--Part {I}: Their Set-Theoretic Analysis and Relations to Linear Shift-Invarient Filters",
JOURNAL = "{IEEE} Transactions on Acoustics, Speech, and Signal Processing",
VOLUME = "ASSP-35",
NUMBER = "8",
PAGES = "1153-1169",
MONTH = "August",
YEAR = "1987" )

@inproceedings( marapane92,
author = "S. B. Marapane and N. Lassiter and M. M. Trivedi",
title = "A Real and Virtual Robot Head for Active Vision Research",
booktitle = "SPIE Sensor Fusion V",
editor = "Paul S. Schenker",
month = "November",
address = "Boston, MA",
pages = "60-71",
year = "1992")


@inproceedings( marapane92,
author = "S. B. Marapane and N. Lassiter and M. M. Trivedi",
title = "A Real and Virtual Robot Head for Active Vision Research",
booktitle = "SPIE Sensor Fusion V",
editor = "Paul S. Schenker",
month = "November",
address = "Boston, MA",
pages = "60-71",
year = "1992")

@misc( marquest89,
author = "{Marquest Telepresence, Bourne, MA}",
title = "Commercial offer: {SHARPS} acoustic navigation system",
year = "1989")

@misc( marquest92,
author = "{Marquest Telepresence, Bourne, MA}",
title = "Commercial offer: {EXACT} acoustic navigation system",
year = "1992")

@book( marr82,
author = "D. Marr",
title = "Vision",
publisher = "New York: W. H. Freeman and Co.",
year = "1982") 

@book( marr91,
author = "D. Marr",
title = "From the Retina to the Necortex",
editor = "Lucia Vaina",
pubisher = "Boston: Birkhauser",
year = "1991")

@BOOK( marshak72,
AUTHOR = "J. Marshak and R. Radnor",
TITLE = "The Economic Theory of Teams",
PUBLISHER = "Yale University Press",
YEAR = "1972" )

@incollection( marston92,
author = "P. L. Marston",
editor = "A. D. Pierce and R. N. Thurston",
title = "Geometrical and Catastrophe Optics Methods in Scattering",
booktitle = "Physical Acoustics",
volume = "XXI",
publisher = "Academic Press",
pages = "2-234",
year = "1992")

@inproceedings( martin89,
AUTHOR = "J. M. Martin-Abreu and R. Ceres",
TITLE = "Anaylsis of Ultrasonic Echo Amplitude: An Application for
Object Discrimination",
BOOKTITLE = sifir,
ADDRESS = "Zaragoza, Spain",
PAGES = "206-211",
YEAR = "1989" )

@inproceedings( maslin83,
author = "G. D. Maslin",
title = "A Simple Ultrasonic Ranging System",
booktitle = "102nd Convention of the Audio Engineering Society",
address = "Cincinatti, Ohio",
month = "May",
year = "1983",
note = "Reprinted in Polaroid Ultrasonic Ranging System Handbook"
)

@book( mason85,
TITLE = "Robot Hands and the Mechanics of Manipulation",
AUTHOR = "M. T. Mason and Salisbury, Jr., J. K.",
PUBLISHER = "The MIT Press",
YEAR = 1985 )

@INCOLLECTION( masten90,
AUTHOR = "M. K. Maston",
TITLE = "Electromechanical Systems for Optical Target Tracking Sensors",
BOOKTITLE = "Multitarget-Multisensor Tracking: Advanced Applications",
editor = "Y. Bar-Shalom",
PUBLISHER = "Boston: Artech House",
PAGES = "321-360",
YEAR = "1990" )

@inproceedings( mataric90,
author = "M. J. Mataric",
title = "Environment Learning Using a Distributed Representation",
booktitle = ieeeicra,
pages = 402,
year = "1990" )

@article( mataric92,
author = "M. J. Mataric",
title = "Integration of Representation into Goal-Driven Behavior-Based
Robots", 
journal = ieeetra,
volume =  "8",
number = "3",
pages = "304-312",
year = "1992")

@article( mataric97,
author = "M. J.  Mataric",
title = "Behavior-Based Control: Examples from Navigation, Learning,
		  and Group Behavior",
journal = "Journal of Experimental
     and Theoretical Artificial Intelligence",
volume = 9,
number = "2-3",
year = 1997,
note = "special issue on Software Architectures for Physical Agents")


@article( matthies87a,
author = "L. Matthies and S. Shafer",
title = "Error Modeling in Stereo Navigation",
journal = ieeera,
volume = "RA-3",
number = 3,
month = "June",
pages = "239-248",
year = "1987" )

@INCOLLECTION( matthies87b,
AUTHOR = "L. Matthies and T. Kanade",
TITLE = "The Cycle of Uncertainty and Constraint in Robot Perception",
BOOKTITLE = "4th International Symposium on Robotics Research",
PUBLISHER = "MIT Press",
PAGES = "327-335",
YEAR = "1987" )

@inproceedings( may78,
	key="May",
	author="M. B. May",
	title="Gravity Navigation",
	pages="212-218",
	booktitle="Record of the 1978 Position Location and
		Navigation Symposium",
	institution="IEEE Aerospace and Electronic Systems Society",
	address="San Diego, CA, USA",
	month="November",
	year=1978)



@book( maybeck79,
author = "P. Maybeck",
title = "Stochastic Models, Estimation, and Control, vol. 1",
publisher = "Academic Press",
year = 1979 )


@book( mccarthy90,
author = "J. M. McCarthy",
title = "An Introduction to Theoretical Kinematics",
publisher = "The MIT Press",
year = 1990 )


@incollection( mcclellan78,
title = "Applications of Digital Signal Processing to Radar",
author = "J. H. McClellan and R. J. Purdy",
booktitle = "Applications of Digital Signal Processing",
editor = "Alan V. Oppenheim",
publisher = "Englewood Cliffs, NJ: Prentice-Hall",
pages = "239-329",
year = "1978")

@ARTICLE( mcdonald83,
]AUTHOR = "J. D. McDonald and A. T. Bahill",
TITLE = "Zero-Latency tracking of predictable targets by time-delay systems",
JOURNAL = "International Journal of Control",
VOLUME = "38",
NUMBER = "4",
PAGES = "881-894",
YEAR = "1983" )

@TECHREPORT( mcivor88a,
AUTHOR = "A. McIvor",
TITLE = "Edge Recognition in Dynamic Vision",
INSTITUTION = "University of Oxford",
MONTH = "May",
YEAR = "1988" )

@TECHREPORT( mcivor88b,
AUTHOR = "A. McIvor",
TITLE = "An Analysis of Lowe's Model-based Vision System",
INSTITUTION = "University of Oxford",
MONTH = "June",
YEAR = "1988" )

@TECHREPORT( mcivor89,
AUTHOR = "A. McIvor",
TITLE = "Implementing the Canny Edge Recognizer with Datacube
Image-Processing Hardware",
INSTITUTION = "University of Oxford",
MONTH = "July",
NUMBER = "1786/89",
YEAR = "1989" )

@inproceedings( mckerrow89,
author = "P. J. McKerrow",
title = "Simulation of Sonar Echolocation",
booktitle = "IARP 1st Workshop on Domestic Robots and 2nd Workshop on
Medical and Healthcare Robotics",
month = "September",
year = 1989 )

@inproceedings( mclain89,
author = "T. McLain and E. Iversen and C. Davis and S. Jacobsen",
title = "Development, Simulation, and Validation of a Highly Nonlinear
Hydraulic Servosystem Model",
booktitle = "American Control Conference",
address = "Pittsburgh, PA",
Month = "June",
year = "1989")

@book( mcnamara90,
author = "D. McNamara and C. Pistorius and J. Malherbe",
title = "Introduction to the Uniform Geometrical Theory of
Diffraction",
publisher = "Boston: Artech House",
year = "1990")

@book( mcneill89,
author = "C. McNeill",
title = "Orienteering: the Skills of the Game",
publisher = "Crowood Press",
year = "1989" )

@article( mealy83,
author = "G. Mealy and W. Tang",
title = "Application of Multiple Model Estimation to a Recursive Terrain Height
Correlation System",
journal = ieeeac,
pages = "323-331",
month = "March",
year = "1983")

@inproceedings( medeiros96,
author = "M. Medeiros and R. Carpenter",
title = "High Resolution Array Signal Processing for {AUV}s",
booktitle = "{AUV} 96",
pages = "10-15",
year = "1996")

@book(melia91,
author = "T. M. Melia",
title = "Damn the Torpedoes:  a short history of U.S. naval mine
                  countermeasures",
publisher = "Washington, D.C.:  Naval Historical Center, Dept. of the
                  Navy",
year = "1991")

@book( mendel83,
author = "J. M. Mendel",
title = "Optimal Seismic Deconvolution",
publisher = "New York: Academic Press",
year = "1983")

@incollection( mendel85,
author = "J. M. Mendel",
editor = "H. W. Sorenson",
title = "Computational Requirements for a Discrete {K}alman Filter",
booktitle = "Kalman Filtering: Theory and Application",
publisher = "IEEE Press",
pages = "219-229",
year = 1985)

@book( merklinger86,
editor = "H. M. Merklinger",
title = "Progress in Underwater Acoustics",
publisher = "New York: Plenum Press",
note = "Proceedings of the Twelfth International Congress on Acoustics
Associated Symposuim on Underwater Acoustics, held Jul 16-18, 1986, in
Halifax, Nova Scotia, Canada",
year = "1986")

@book( merrill83,
author = "R. T. Merrill and M. W. McElhinny",
title = "The Earth's Magnetic Field",
publisher = "Academic Press",
year = "1983")

@incollection( metaxis94,
author = "D. Metaxis",
title = "A Physics-based Framework Segmentation, Shape and Motion
Estimation", 
editor = "M. Hebert and J. Ponce and T. Boult and A. Gross",
booktitle = "Object Representation in Computer Vision",
publisher = "Springe-Verlag",
notes = "Lecture Notes in Computer Science Volume 994",
pages = "233-247",
year = "1994")

@MISC( meyer, 
AUTHOR = "F. Meyer",
TITLE = "Automatic Screening of Cytological Specimens" )

@incollection( middleton90,
author = "D. Middleton",
title = "Operational Formulations for the Computational Solution of
Scattering Problems in Ocean Acoustics Involving Surface, Volume, and
Bottom Interactions",
booktitle = "Computational Acoustics",
volume = "2",
publisher = "Amsterdam: North-Holland",
pages = "65-91",
year = "1990")

@INPROCEEDINGS( miller84,
AUTHOR = "G. Miller and R. Boie and M. Sibilia",
TITLE = "Active Damping of Ultrasonic Transducers for Robotic Applications",
BOOKTITLE = "{IEEE} Int. Conference on Robotics",
ORGANIZATION = "{IEEE}",
PAGES = "379-383",
YEAR = "1984" )

@INPROCEEDINGS( miller85,
AUTHOR = "D. Miller",
TITLE = "A Spatial Representation System For Mobile Robots",
BOOKTITLE = "{IEEE} Int. Conference on Robotics",
ORGANIZATION = "{IEEE}",
PAGES = "122",
YEAR = "1985" )

@incollection( miller86,
TITLE = "Local Sensing",
AUTHOR = "R. L. Miller",
BOOKTITLE = "Robotics and Artificial Vision Systems Handbook",
PUBLISHER = "Benjamin/Cummings",
EDITOR = "Brady and Villers",
YEAR = 1986 )

@incollection( miller90,
AUTHOR = "G. Miller and E. Wagner",
TITLE = "An Optical Rangefinder for Autonomous Robot Cart Navigation",
BOOKTITLE = "Autonomous Robot Vehicles",
EDITOR = "I. Cox and G. Wilfong",
PUBLISHER = "Springer-Verlag",
PAGES = "122-134",
YEAR = "1990" )

@book( milne83,
author = "P. H. Milne",
title = "Underwater Acoustic Positioning Systems",
publisher = "London: E. F. N. Spon",
year = "1983")

@incollection( mitson90,
author = "R. B. Mitson",
title = "Very High-frequency Acoustic Emissions from the White-beaked
Dolphin",
editor = "J. A. Thomas and R. A. Kastelein",
booktitle = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
pages = "283-294",
year = "1990")

@INCOLLECTION( mitzel90,
AUTHOR = "J. H. Mitzel",
TITLE = "Multitarget Tracking Applied to Automatic Target Recognition
with an Imaging Infrared Sensor",
BOOKTITLE = "Multitarget-Multisensor Tracking: Advanced Applications",
editor = "Y. Bar-Shalom",
PUBLISHER = "Boston: Artech House",
PAGES = "297-320",
YEAR = "1990" )

@incollection( mitzner90,
author = "K. M. Mitzner and K. J. Kaplin and J. F. Cashen",
title = "How Scattering Increases as an Edge is Blunted: The Case of
an Electric Field Parallel to the Edge",
editor = "H. N. Kritikos and D. L. Jaggard",
booktitle = "Recent Advances in Electromagnetic Theory",
publisher = "New York: Springer Verlag",
pages = "319-338",
year = "1990")

@incollection( mohl90,
author = "B. Mohl and A. Surlykke and L. Miller",
title = "High Intensity Narwhal Clicks",
editor = "J. A. Thomas and R. A. Kastelein",
booktitle = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
pages = "295-304",
year = "1990")

@phdthesis( montana86,
author = "D. J. Montana",
title = "Tactile Sensing and the Kinematics of contact",
school = "Harvard University",
year = "1986")

@incollection( moore90,
author = "P. Moore and D. Pawloski",
title = "Investigations on the Control of Echolocation Pulses in the
Dolphin {({\em Tursiops truncatus})}",
editor = "J. A. Thomas and R. A. Kastelein",
booktitle = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
pages = "305-316",
year = "1990")

@techreport( moore92,
editor = "J. Moore and J. G. Bellingham",
title = "Scientific and Environmental Data Collection with Autonomous
Underwater Vehicles",
oprganization = "M.I.T. Sea Grant",
number = "Report 92-2",
year = "1992")

@techreport( johnmoore93,
editor = "J. Moore",
title = "Perception, Scene Reconstruction, and World Modeling for Unmanned
Underwater Vehicles",
number = "MIT Marine Industry Collegium Opportunity Brief 62",
month = "January",
year = "1993") 

@inproceedings( moore95,
author = "P. Moore and L. Bivens",
title = "The bottlenose dolphin: Nature's {ATD} in {SWMCM} autonomous
sonar platform technology",
booktitle = "Proceedings of the Autonomous Vehicles in Mine
Countermeasures Symposium",
pages = "6-63 -- 6-67",
publisher = "Naval Postgraduate School",
year = "1995")

@ARTICLE( moose75,
AUTHOR = "R. L. Moose",
TITLE = "An Adaptive State Estimation Solution to the Maneuvering Target Problem",
JOURNAL = "{IEEE} Transactions on Automatic Control",
VOLUME = "AC-20",
NUMBER = "6",
MONTH = "June",
YEAR = "1975" )

@inproceedings( moran93,
author = "B. A. Moran and J. J. Leonard and C. Chryssostomidis",
title = "Geometric Shape from Sonar Ranging",
booktitle = uust,
pages = "370-383",
year = "1993" )


@phdthesis( moran94,
author = "B. A. Moran",
title = "Underwater Shape Reconstruction in Two Dimensions",
school = "Massachusetts Institute of Technology",
year = "1994")

@article( moran97,
author = "B. A. Moran and J. J. Leonard and C. Chryssostomidis",
title = "Curved Shape Reconstruction Using Multiple Hypothesis Tracking",
journal = ieeejoe,
volume = "22",
number = "4",
pages = "625-638",
year = "1997")

@ARTICLE( moravec83,
AUTHOR = "H. Moravec",
TITLE = "The Stanford Cart and the CMU Rover",
JOURNAL = "{IEEE} Transactions on Industrial Electronics",
YEAR = "1983" )

@inproceedings( moravec85,
	author="H. P. Moravec and A. Elfes",
	title="High Resolution Maps From Wide Angle Sonar",
	booktitle=ieeeicra,
	page="116",
	year=1985
)

@INCOLLECTION( moravec89,
AUTHOR = "H. Moravec",
TITLE = "Sensor Fusion in Certainty Grids for Mobile Robots",
BOOKTITLE = "Sensor Devices and Systems for Robotics",
PUBLISHER = "Springer-Verlag",
NOTE = "Nato ASI Series",
PAGES = "253-276",
YEAR = "1989" )

@inproceedings(moravec89a,
author = "H. P. Moravec and D. W. Cho",
title = "A {B}ayesean Method for Certainty Grids",
booktitle = "{AAAI} {S}pring {S}ymposium on {R}obot {N}avigation",
year = 1989,
pages = "57-60")

@inproceedings( morefield75,
author = "C. L. Morefield",
title = "Applications of 0-1 Integer Programming for Multi-Target
Tracking problems",
booktitle = "IEEE Conf. on Decision and Control",
month = "December",
year = "1975" )

@ARTICLE( morefield77,
AUTHOR = "C. L. Morefield",
TITLE = "Application of 0-1 integer programming to multitarget tracking problems",
JOURNAL = "{IEEE} Transactions on Automatic Control",
VOLUME = "AC-22",
NUMBER = "6",
MONTH = "June",
YEAR = "1977" )

@ARTICLE( mori86,
AUTHOR = "S. Mori and C. Chong and E. Tse and R. Wishner",
TITLE = "Tracking and Classifying Multiple Targets without A Priori Identification",
JOURNAL = "{IEEE} Trans.\ on Automatic Control",
VOLUME = "AC-31",
NUMBER = "5",
MONTH = "May",
YEAR = "1986" )

@BOOK( morse68,
author = "P. M.  Morse and K. U. Ingard",
title = "Theoretical Acoustics",
publisher = "New York: McGraw-Hill",
year = "1968" )

@inproceedings{moutarlier89, 
  author = 	 {P. Moutarlier and  R. Chatila},
  title = 	 {Stochastic Multi-sensory Data Fusion for Mobile Robot
		  Location and Environment Modeling},
  booktitle = 	 {5th Int. Symposium on Robotics Research},
  year = 	 1989,
  pages =         {207--216},
  annote =	 {This paper is very similar to \cite{SSC90} but also
		  incorporates colored noise. That is, a stochastic map
		  is built and used to localize a vehicle. The
		  standard Kalman filter is used, and the method of
		  {\bf relocation fusion} is introduced. The Kalman filter to deal
		  with colored noise might be interesting. Data fusion
		  is not incorporated.}
}

@inproceedings( moutarlier89a,
author = "P. Moutarlier and R. Chatila",
title = "An Experimental System for Incremental Environment Modeling
by an Autonomous Mobile Robot", 
booktitle="1st International Symposium on Experimental Robotics",
address = "Montreal",
month = "June",
year=1989 )

@inproceedings( moutarlier89b,
author = "P. Moutarlier and R. Chatila",
title = "Stochastic Multisensory Data Fusion for Mobile Robot Location
and Environment Modeling",
booktitle="5th Int. Symposium on Robotics Research",
address = "Tokyo",
year=1989 )


@inproceedings( moutarlier89c,
author = "P. Moutarlier and P. Grandjean and R. Chatila",
title = "Multisensory Data Fusion for Mobile Robot Location and 3-{D} Modelling", 
booktitle="IARP Int. Conf. on Multi-Sensor Fusion and Environment Modelling",
address = "Toulouse, France",
month = "October",
year=1989 )

@article( muir87,
AUTHOR = "P. Muir and C. Neuman",
TITLE = "Kinematic Modeling for Feedback Control of an Omnidirectional
Wheeled Mobile Robot",
journal = ieeera,
PAGES = "1772-1778",
YEAR = "1987" )

@phdthesis( muir88,
author = "P. Muir",
school = "Carnegie Mellon University",
title = "Modeling and Control of Wheeled Mobile Robots",
year = "1988") 

@INPROCEEDINGS( muir90,
AUTHOR = "P. Muir and C. Neuman",
TITLE = "Resolved Motion Rate and Resolved Acceleration Servo-control
of Wheeled Mobile Robots",
BOOKTITLE = ieeeicra,
ORGANIZATION = "{IEEE}",
PAGES = "1133-1140",
YEAR = "1990" )

@inproceedings( mullen91,
author = "C. Mullen",
title = "The {L}ucona Affair",
booktitle = "IEEE Oceans",
pages = "185-188",
year = "1991")


@INPROCEEDINGS( mundy87,
AUTHOR = "C. Connolly and J. Mundy and J. Stensrom and D. Thompson",
TITLE = "Matching from 3-{D} Range Models into 2-{D} Intensity Scenes",
BOOKTITLE =  ieeeicra,
ORGANIZATION = "{IEEE}",
PAGES = "65-72",
YEAR = "1987" )


@inproceedings( mundy90,
author = "J. Mundy and A. Heller",
title = "The Evolution and Testing of a Model-Based Object Recognition System",
booktitle = iccv,
pages = "268-282",
year = "1990",
address = "Osaka,pan" )

@book( mundy92,
editor = "J. L. Mundy and A. Zisserman",
title = "Geometric Invariance in Computer Vision",
publisher = "MIT Press",
year = "1992")


@article( munk94,
author = "W. H. Munk and R. C. Spindel and A. Baggeroer and T. G. Birdsall",
title = "The Heard Island Feasibility Test",
journal = jasa,
volume = "96",
pages = "2330-2342",
year = "1994")

@book( munk95,
author = "W. Munk and P. Worcester and C. Wunsch",
title = "Ocean Acoustic Tomography",
publisher = "Cambridge University Press",
year = "1995")


@article{ munro90,
  author = 	 {Munro, W. S. and Pomeroy, S. and Afiq, M. and
                  Wybrow, M.D . and Wykes}, 
  title = 	 { Ultrasonic vehicle guidance transducer },
  journal = 	 {Ultrasonics},
  year = 	 {1990},
  OPTeditor = 	 {},
  volume = 	 {28},
  pages = 	 {351-354}
}



@book( murray90,
author = "D. Murray and B. Buxton",
title = "Experiments in the Machine Interpretation of Visual Motion",
publisher = "MIT Press",
year = "1990")	

@article( murty68,
author = "K. G. Murty",
title = "An algorithm for ranking all the assignments in order of
increasing cost",
journal = "Operations Research",
volume = "16",
pages = "682-687",
year = "1968")

@book( musser96,
author = "D. Musser and A. Saini",
title = "Standard Template Library Tutorial and Reference Guide",
publisher = "Addison Wesley",
year = "1996")

@book( myers69,
title = "Handbook of Ocean and Underwater Engineering",
editor = "J. Myers and C. Holm and R. MacAllister",
publisher = "New York: McGraw-Hill",
year = "1969")

@book( nachtigall88,
editor = "P. Nachtigall and P. Moore",
title = "Animal Sonar: Processes and Performance",
publisher = "New York: Plenum Press",
year = "1988")

@misc( nachtigall97,
author = "P. Nachtigall",
title = "Personal communication",
month = "May",
year = "1997")

@article( nackman84,
	key="Nackman",
	author="L. R. Nackman",
	title="Two-Dimensional Critical Point Configuration Graphs",
	journal="IEEE Transactions on Pattern Analysis and Machine
		Intelligence",
	volume="PAMI-6",
	number=4,
	pages="442-450",
	month="July",
	year=1984)

@INPROCEEDINGS( nagahdaripour95,
AUTHOR = "S. Nagahdaripour and S. Zhang",
TITLE = "Determining the size and position of cylindrical objects from
optical images in underwater environments",
BOOKTITLE = uust,
pages = "232-242",
MONTH = "September",
YEAR = "1995" )

@inproceedings( nagashima,
author = "Y. Negashima and S. Yuta",
title = "Ultrasonic sensing for a mobile robot to recognize an
environment --- measuring the normal direction of walls",
booktitle = iros,
pages = "805-812",
year = "1992")



@inproceedings( nahon96,
author = "M. Nahon",
title = "A Simplified Dynamics Model for Autonomous Underwater Vehicles",
booktitle = "Proceedings {AUV} '96",
pages = "373-379",
year = "1996")

@techreport( narasimhan88,
author = "S. Narasimhan",
title = "Dexterous Robotic Hands: Kinematics and Control",
number = "1056",
type = "AI Memo", 
year = "1988")

@article( narasimhan89,
author = "S. Narasimhan and D. Siegel and J. Hollerbach",
title = "Condor: Computational Architecture for Controlling the
Utah-MIT Hand",
journal = "ieeetra",
volume = "5",
number = "5",
pages = "616-627",
year = "1989")



@techreport( nayer89,
author = "S. Nayer and K. Ikeuchi and T. Kanade",
title = "Surface Reflection: Physical and Geometric Perspectives",
number = "CMU-RI-TR-89-7",
institution = "Carnegie-Mellon University",
year = "1989")


@misc( ncss98,
author = "Naval~Coastal~Systems~Station",
title = "Diver-Portable Sonar {AN/PQS-2A}",
note = "{\tt http://www.ncsc.navy.mil/CSS/Projects/pqs2a.htm}",
address = "Panama City, FL",
year = "1998")

@article( nebot99,
author = "E. M. Nebot and H. Durrant-Whyte",
title = "A high integrity navigation architecture for outdoor
                  autonomous vehicles",
journal = "Robotics and Autonomous Systems",
volume = "26",
pages = "81-97",
year = "1999")

@inproceedings( neller91,
author = "M. Neller",
title = "Recovery of an Advanced Underwater Search System by the Advanced Tethered
Vehicle",
booktitle = "IEEE Oceans",
pages = "183-184",
year = "1991")

@INPROCEEDINGS( nelson88,
AUTHOR = "W. L. Nelson and I. J. Cox",
TITLE = "Local Path Control for an Autonomous Vehicle",
BOOKTITLE = ieeeicra,
ORGANIZATION = "{IEEE}",
PAGES = "1504-1510",
YEAR = "1988" )
		  
@article( neubauer63,
author = "W. G. Neubauer",
title = "A Summation Formula for Use in Determining the Reflection of
Irregular Bodies",
journal = jasa,
volume = "35",
page = "279",
year = "1963")

@book( neubauer86,
author = "Neubauer, Werner G.",
title = "Acoustic reflection from surfaces and shapes",
Publisher = "Washington, D.C. : Naval Research Laboratory",
year = "1989",
barker_call_number = "TA365.N46")

@article( newman95,
author = "T. S. Newman and A. K. Jain",
title = "A Survey of Automated Visual Inspection",
journal = cviu, 
volume = "61",
number = "2",
month = "March",
year = "1995")

@phdthesis( newman99,
author = "P. M. Newman",
title = "On the structure and solution of the simultaneous localization and mapping problem",
school = "University of Sydney",
year = "1999")

@article( nguyen88,
author = "V. Nguyen",
title = "Constructing force-closure grasps",
journal = ijrr,
volume = 7, number = 3,
pages = "3--16", year = 1988)

@ARTICLE( niedzwiecki88,
AUTHOR = "M. Niedzwiecki",
TITLE = "First-Order Tracking Properties of Weighted Least Squares Estimators",
JOURNAL = "{IEEE} Transactions on Automatic Control",
VOLUME = "AC-33",
NUMBER = "1",
MONTH = "January",
YEAR = "1988" )

@book( nielsen91,
author = "R. O. Nielsen",
title = "Sonar Signal Processing",
publisher = "Boston: Artech House",
year = "1991")

@INPROCEEDINGS( nilsson69,
AUTHOR = "N. Nilsson",
TITLE = "A Mobile Automation: an Application of Artificial Intelligence Techniques",
BOOKTITLE = "International Joint Conference on Artificial Intelligence",
YEAR = "1969" )

@TECHREPORT( nilsson84,
AUTHOR = "N. Nilsson",
TITLE = "Shakey the Robot",
INSTITUTION = "SRI International",
NUMBER = "323",
YEAR = "1984" )

@INPROCEEDINGS( noborio90,
AUTHOR = "H. Noborio and K. Kondo and A. Noda",
TITLE = "A Good Extension Method of Free Space in an Uncertain 2{D}
Workspace by Using an Ultrasonic Sensor",
BOOKTITLE = iros,
PAGES = "665",
YEAR = "1990" )

@book( noel91,
editor = "B. Noel",
title = "Ultra-Wideband Radar: Proceedings of the First Los Alomos
Symposium", 
publisher = "Boca Raton: CRC Press",
year = "1991")

@misc( nomad98,
author = "Nomadic~Technologies",
title = "{\tt http://www.robots.com}",
year = "1998")

@article( norton79a,
author = "S. J. Norton and M. Linzer",
title = "Ultrasonic Reflection Tomography: Reconstruction with
Circular Transducer Arrays",
journal = "Ultrasonic Imaging",
volume = "1",
pages = "154-184",
publisher = "New York: Academic Press",
year = "1979")


@article( norton79b,
author = "S. J. Norton and M. Linzer",
title = "Ultrasonic Reflection Tomography: Reconstruction with
Spherical Transducer Arrays",
journal = "Ultrasonic Imaging",
volume = "1",
pages = "210-231",
publisher = "New York: Academic Press",
year = "1979")

@book( nrc67,
author = "Committee on Prosthetics Research and Development",
title = "Sensory Aids for the Blind",
publisher = "Washington, DC: National Academy Press",
year = "1967")

@book( nrc86,
author = "Working Group on Mobility Aids for the Visually Impaired and
Blind",
title = "Electronic Travel Aids: New Directions for Research",
publisher = "Washington, DC: National Academy Press",
year = "1986")

@book( nrc96,
author = "Marine Board",
title = "Undersea Vehicles and National Needs",
publisher = "Washington, DC: National Academy Press",
year = "1996")

@book( nrc97,
author = "National~Research~Council",
title = "Oceanography and Naval Special Warfare; Opportunities and 
Challenges",  
publisher = "Washington, DC: National Academy Press",
year = "1997")

@incollection( numrich92,
author = "S. K. Numricha and H. Uberall",
editor = "A. D. Pierce and R. N. Thurston",
title = "Scattering of Sound Pulses and the Ringing of Target Resonances",
booktitle = "Physical Acoustics: High Frequency and Pulse Scattering",
volume = "XXI",
publisher = "Academic Press",
pages = "235-318",
year = "1992")

@inproceedings( nussbaum96,
author = "F. Nussbaum and G. Stevens and J. Kelly",
title = "Sensors for a Forward-Looking High Resolution {AUV} Sonar",
booktitle = "AUV 96",
pages = "141--145",
year = "1996")

@Misc{nuwc99,
  author =	 {Naval Underwater Warfare Center},
  title =	 {{NUWC DIVNPT UUV homepage}},
  month =	 {March},
  year =	 1999
}

@article( ocallaghan84,
author = "J. O'Callaghan and D. Mark",
title = "The Extraction of Drainage Networks for Digital Elevation Data",
journal = "Computer Vision, Graphics, and Image Processing",
volume = "28",
pages = "323-344",
year = "1984")

@article( ogilvie93,
author = "T. F. Ogilvie",
title = "Ocean Engineering Education in the '90s",
journal = "Marine Technology",
month = "April",
pages = "79-83",
year = "1993")
		  
@article( ogilvy87,
author = "J. A. Ogilvy",
title = "Wave Scattering from Rough Surfaces",
journal = "Reports on Progress in Physics",
volume = "50",
pages = "1553-1608",
year = "1987")

@book( ogilvy91,
author = "J. A. Ogilvy",
title = "Theory of wave scattering from random rough surfaces",
publisher = "Bristol, England: A. Hilger",
year = "1991")

@Misc{optimal,
  key = {AA},
  note =	 {By optimal,  we here mean  that,
under the assumption that the EKF is the best estimator for our state,
the action  $\bu$  that maximizes the   knowledge (information) of the
system given the     {\em current} knowledge of  the    system can  be
determined.  This is {\em not} necessarily  the optimal action for the
{\em actual}  system.}
}

@misc( ore98,
author = "ORE~Inc.",
title = "{\tt http://www.orehouston.com}",
year = "1998")

@inproceedings( orser87,
author = "D. Orser and M. Roche",
title = "The Extraction of Topographic Features in Support of Autonomous
Underwater Vehicle Navigation",
booktitle = uust,
pages = "502-514",
year = "1987") 

@book( ostrovityanov85,
author = "Ostrovityano and Basalov",
title = "Statistical Theory of Extended Radar Targets",
publisher = "Boston: Artech House",
year = "1985",
note = "Translated from Russian") 

@InProceedings{ pagac96,
  author = 	 {Pagac, D. and Nebot, E. M. and Durrant-Whyte H.},
  title = 	 { An evidential approach to probabilistic map-building },
  booktitle = 	 {Proceedings. 1996 IEEE International Conference on Robotics and Automation (Cat. No.96CH35857)},
  volume = 	 {1},
  series = 	 {IEEE. Part},
  year = 	 {1996},
  address = 	 {New York, NY, USA},
  pages = 	 {745-750}
}

@InProceedings{ oriolo95,
  author = 	 {Oriolo, G. and Vendittelli, M. and Ulivi, G.},
  title = 	 { On-line map building and navigation for autonomous mobile robots },
  booktitle = 	 {"Proceedings of 1995 IEEE International Conference on Robotics And Automation (Cat. No.95CH3461-1)},
  volume = 	 {3},
  series = 	 {IEEE. Part},
  year = 	 {1995},
  address = 	 {New York, NY, USA},
  pages = 	 {2900-2906}
}


@inproceedings( paglia96,
author = "J. G. Paglia and W. F. Wyman",
title = "{DARPA}'s {A}utonomous {M}inehunting and {M}apping {T}echnologies
		  ({AMMT}) {P}rogram: {A}n {O}verview",
booktitle = "IEEE Oceans",
address = "Ft. Lauderdale, FL, USA",
month = "September",
pages = "794-799",
year = 1996)


@incollection( pan86,
author = "S. X. Pan and A. C. Kak",
title = "A Computational Study of Reconstruction Algorithms for Diffraction
Tomography: Interpolation Versus Filtered Backpropagation", 
editor = "H. Lee and G. Wade", 
booktitle = "Modern Acoustical Imaging",
publisher = "IEEE Press",
pages = "133-146",
note = "Reprinted from {\em IEEE} Trans.\  Acoust., Speech, Signal
Processing, Vol.\ ASSP-31, pp. 1262-1275",
year = "1986")

@book( papadimitriou82,
author = "C. H. Papadimitriou and K. Steiglitz",
title = "Combinatorial Optimization",
publisher = "Prentice-Hall",
year = "1982")
		  
@article( papadopoulos91,
TITLE = "Free-Floating Space Manipulators",
AUTHOR = "E. Papadopoulos and S. Dubowsky",
JOURNAL = ieeetra,
VOLUME = 7, NUMBER = 6,
MONTH = dec, YEAR = 1991 )

@BOOK( papoulis65,
AUTHOR = "A. Papoulis",
TITLE = "Probability, Random Variables and Stochastic Processes",
publisher = "New York: McGraw-Hill",
YEAR = "1965" )


@BOOK( papoulis91,
AUTHOR = "A. Papoulis",
TITLE = "Probability, Random Variables and Stochastic Processes",
publisher = "New York: McGraw-Hill",
edition = "Third Edition",
YEAR = "1991" )

@article( pappas91,
author = "G. Pappas and W. Shotts and M. O'Brien and W. Wyman",
title = "The {DARPA/NAVY} Unmanned Undersea Vehicle Program",
journal = "Unmanned Systems",
volume = "9",
number = "2",
pages = "24-30",
Year = "1991")


@inproceedings(parker95,
author = "L. E. Parker",
title = "Effect of action recognition and robot awareness in
                  cooperative robotic teams",
booktitle = "IEEE International Conference on Intelligent Robots and
                  Systems",
publisher = "IEEE",
address = "Pittsburgh, PA, USA",
year = "1995")

@inproceedings( parvin92,
author = "B. Parvin and G. Medioni",
title = "B-rep from unregistered multiple range images",
booktitle = ieeeicra,
address = "Nice, France",
month = "May",
pages = "1602-1607",
year = "1992")

@article( patrikalakis90,
	key="Patrikalakis",
	author="N. M. Patrikalakis and P. V. Prakash",
	title="Surface Intersections for Geometric Modeling",
	journal="Journal of Mechanical Design, ASME Transactions",
	pages="100-107",
	volume=112,
	month="March",
	year=1990)

@incollection( patrikalakis92,
editor = "T. Kunii and Y. Shinagawa",
author = "N. M. Patrikalakis and T. Maekawa and E. Sherbrooke and J. Zhou",
title = "Computation of Singularities for Engineering Design",
booktitle = "Modern Geometric Computing for Visualization",
publisher = "Tokyo: Springer-Verlag",
page = "167-191",
year = "1992")

@INCOLLECTION( pattipati90,
AUTHOR = "K. R. Pattipati and S. Deb and Y. Bar-Shalom",
TITLE = "Passive Multisensor Data Association Using a New Relaxation Algorithm",
BOOKTITLE = "Multitarget-Multisensor Tracking: Advanced Applications",
editor = "Y. Bar-Shalom",
PUBLISHER = "Boston: Artech House",
PAGES = "219-246",
YEAR = "1990" )

@BOOK( paul81,
AUTHOR = "R. P. Paul",
TITLE = "Robot Manipulators",
PUBLISHER = "MIT Press",
YEAR = "1981" );

@InProceedings{paul91,
  author = 	 "Paul, R. P and Funda, J.",
  title = 	 "Teleprogramming for Manipulation by Autonomous
		  Underwater Vehicles", 
  pages = 	 "575-585",
  booktitle = "Proceedings 7th Int. Symp. Unmanned Untethered
		  Submersible Technology", 
  year = 	 "1991",
  organization = "Autonomous Undersea Systems Institute",
  address = 	 "Portsmouth, NH"
}

@BOOK( pavlidis82,
AUTHOR = "T. Pavlidis",
TITLE = "Algorithms for Graphics and Image Processing",
PUBLISHER = "Computer Science Press",
YEAR = "1982" )


@article( payton90,
author = "D. Payton and D. Keirsey and D. Kimble and J. Krozel and
		  K. Rosenblatt",
title = "Do Whatever Works: {A} robust approach to fault-tolerant
		  autonomous control",
journal = "Journal of Applied Intelligence",
volume = 3,
pages = "226-249",
year = 1990)

@misc( pelagos98,
author = "Pelagos, Inc.",
title = "{\tt http://www.pelagos.com}",
year = "1998")

@incollection( pentland89,
author = "A. Pentland and R. Bolles",
title = "Learning and Recognition in Natural Environments",
BOOKTITLE = "Robotics Science",
PUBLISHER = "MIT Press",
YEAR = "1989" )

@book( peshkin90,
author = "M. A. Peshkin",
title = "Robotic Manipulation Strategies",
publisher = "Englewood Cliffs, NJ: Prentice Hall",
year = "1990")

@incollection( peterson86,
author = "D. K. Peterson and G. S. Kino",
title = "Real-time Digital Image Reconstruction: A Description of Imaging
Hardware and an Analysis of Quantization Errors", 
editor = "H. Lee and G. Wade",
booktitle = "Modern Acoustical Imaging",
publisher = "IEEE Press",
pages = "371-385",
note = "Reprinted from {\em IEEE Trans.\ Sonics Ultrason.}, Vol.\ SU-31, pp.\
337-351, July 1984", 
year = "1986")

@book( pickard90,
title = "Descriptive Physcial Oceanography",
author = "G. Pickard and W. Emery",
publisher = "Pergammon",
year = "1990")

@misc( pms403,
author = "{U.S.\ Navy Unmanned Underwater Vehicle Program Management Office}",
title = "{\tt http://www.contracts.hq.navsea.navy.mil/pms403/}",
year = "1998")

@MISC( polaroid84,
TITLE = "Ultrasonic Ranging System",
AUTHOR = "{Polaroid Corporation, Commercial Battery Division, Cambridge, MA}",
YEAR = "1984" )

@incollection( pole88,
author = "A. Pole, M. West, and P. J. Harrison",
editor = "James C. Spall",
title = "Nonnormal and Nonlinear Dynamic {B}ayesian Modeling",
booktitle = "{B}ayesian Analysis of Time Series and Dynamic Models",
pages = "167-198",
year = "1988")

@book( pollak89,
author = "G. R. Pollak and J. H. Casseday",
title = "The Neural Basic of Echolocation in Bats",
publisher = "New York: Springer-Verlag",
year = "1989")

@INPROCEEDINGS( pollard89,
AUTHOR = "S. Pollard and J. Porrill and J. Mayhew",
TITLE = "Predictive Feed-Forward Stereo Processing",
BOOKTITLE = "Alvey Vision Conference",
PAGES = "97-102",
month = "September",
YEAR = "1989" )
%% Is it 

@inproceedings( polvani77,
author = "D. Polvani",
title = "Magnetic Loops as Submarine Detectors",
booktitle = "IEEE Oceans",
year = "1977")

@inproceedings( polvani81,
author = "D. Polvani",
title = "Current and Future Underwater Magnetic Sensing",
booktitle = "IEEE Oceans",
pages = "442-446",
year = "1981")

@inproceedings( polvani87,
author = "D. Polvani",
title = "Magnetic Guidance of Autonomous Vehicles, Part 2",
booktitle = uust,
pages = "257-264",
year = "1987")

@incollection( pomeroy86,
author = "S. Pomeroy and H. Dixon and M. Wybrow and J. Knight",
title = "Ultrasonic Distance Measuring and Imaging Systems for
Industrial Robots",
booktitle = "Robot Sensors, Volume 2: Tactile and Non-tactile",
editor = "A. Pugh",
publisher = "Berlin: Springer-Verlag",
pages = "261-270",
year = "1986")

@incollection( ponce92,
author = "J. Ponce and D. Kriegman",
title = "Toward 3D Curved Object Recognition from Image Contours",
booktitle = "Geometric Invariance in Computer Vision",
editor = "J. L. Mundy and A. Zisserman",
publisher = "MIT Press",
pages = "408-439",
year = "1992")

@book{ popper88,
  author = 	 {Popper, Arthur N.},
  title = 	 { Sound Emission and detection by delphinids },
  publisher = 	 {Robert E. Krieger Publishing Company},
  year = 	 {1988}
}

@book( popper94,
editor = "A. N. Popper and R. R. Fay",
title = "Hearing by Bats",
publisher = "Springer-Verlag",
year = "1994")

@article( porter87,
author = "M. Porter and R. Deins and R. Fize",
title = "Simulations of Matched-Field Processing in a Deep-Water Pacific
Environment", 
journal = ieeejoe,
volume = "OE-12",
number = "1",
pages = "173-181",
month = "January",
year = "1987")

@inproceedings( powers87,
author = "J. Powers and D. Guyomar",
title = "A transfer function model for propagation in homogenous media", 
booktitle = "SPIE International Symposium on Pattern Recognition and
Acoustical Imaging",
volume = "768",
pages = "253-258",
year = "1987")

@misc( projagree97,
author = "{Joint U.S./France Cooperative UUV Development Program}",
title = "Joint Project Agreement {MWDDEA-N-96-004}",
date = "5 March 1997")

@incollection( pryor90,
author = "K. Pryor",
title = "Concluding Comments on Vision, Tactition, and Chemoreception",
editor = "J. A. Thomas and R. A. Kastelein",
booktitle = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
pages = "561-569",
year = "1990")

@inproceedings( pugh87,
author = "G. Pugh and J. Krupp",
title = "The Control of Autonomous Underwater Vechicles through a Hierarchical
Structure of Value Priorities",
booktitle = uust,
year = "1987",
pages = "477-501")

@TECHREPORT( rao89a,
AUTHOR = "B. Y. S. Rao and H. Durrant-Whyte",
TITLE = "A Fully Decentralized Algorithm for Multi-sensor {K}alman Filtering",
INSTITUTION = "University of Oxford, Dept. of Engineering Science",
NUMBER = "OUEL-1787/89",
YEAR = "1989" )

@inproceedings( raschke90,
author = "U. Raschke and J. Borenstein",
title = "A Comparison of Grid-type Map-building Techniques by Index of Performance",
BOOKTITLE = ieeeicra,
PAGES = "1828",
YEAR = "1990" )


@inproceedings( regan96,
author = "R. A. Regan",
title = "Autonomous Minehunting and Mapping At-Sea Testing",
booktitle = "IEEE Oceans",
pages = "807-812",
year = "1996")

@ARTICLE( reid79,
AUTHOR = "D. B. Reid",
TITLE = "An Algorithm for Tracking Multiple Targets",
JOURNAL = "{IEEE} Trans.\ on Automatic Control",
VOLUME = "AC-24",
NUMBER = "6",
MONTH = "Dec.",
YEAR = "1979" )

@INPROCEEDINGS( reid89,
AUTHOR = "I. Reid and M. Brady and A. McIvor and R. Rixon",
TITLE = "Range Vision and the Oxford AGV",
BOOKTITLE = "Int. Advanced Robotics Programme (IARP) workshop",
ADDRESS = "Toulouse, France",
MONTH = "October",
YEAR = "1989" )


@INPROCEEDINGS( rencken93,
AUTHOR = "W. D. Rencken",
TITLE = "Concurrent Localisation and Map Building for Mobile Robots
Using Ultrasonic Sensors",
BOOKTITLE = iros,
address = "Yokohama, Japan",
pages = "2192-2197",
YEAR = "1993")

@ARTICLE( requicha80,
AUTHOR = "A. A. G. Requicha",
TITLE = "Representations for Rigid Solids: Theory, Methods, and Systems",
JOURNAL = "Computing Surveys",
VOLUME = "12",
NUMBER = "4",
PAGES = "437-464",
MONTH = "December",
YEAR = "1980" )

@misc( reson92,
author = "{Reson, Inc.}",
title = "Commercial offer: {SEABAT} electronically-scanned sonar system",
note = "{\tt http://www.reson.com}",
year = "1992")

@misc( reson98,
author = "{Reson, Inc.}",
title = "Commercial offer: {SEABAT} 8001 forward-look sonar system",
note = "{\tt http://www.reson.com}",
year = "1998")

@book( reuleaux63,
title = "The Kinematics of Machinery",
author = "F. Reuleaux",
publisher = "Dover Publications, Inc.",
note = "Translated by A. B. W. Kennedy",
year = 1963 )

@BOOK( rich83,
AUTHOR = "E. Rich",
TITLE = "Artificial Intelligence",
publisher = "New York: McGraw-Hill",
YEAR = "1983" )

@ARTICLE( richardson88,
AUTHOR = "J. M. Richardson and K. A. Marsh and J. F. Martin",
TITLE = "Combining of Acoustical and Optical Data",
JOURNAL = "International Journal of Robotics Research",
VOLUME = "6",
NUMBER = "3",
YEAR = "1988",
NOTE = "In the press" )

@inproceedings( rigaud90,
	key="Rigaud",
	author="V. Rigaud",
	title="Localization of {AUV} by Data Fusion and Stochastic
		Triangulation on Passive Seamarks",
	pages="171-176",
	editors="Lee, M. J. and McGhee, R. B.",
	booktitle="Proceedings of the IARP 1st Workshop on Mobile
		Robots for Subsea Environments",
	institution="International Advanced Robotics Programme",
	address="Monterey, CA, USA",
	month="October",
	year=1990)
		  

@inproceedings( rigaud90b,
author = "V. Rigaud and L. Marce",
title = "Absolute Location of Underwater Robotic Vehicles by Acoustic
Data Fusion",
booktitle = ieeeicra,
year = "1990")

@book( rihaczek69,
author = "August W. Rihaczek",
title = "Principles of High Resolution Radar",
publisher = "New York: McGraw-Hill",
year = "1969");

@incollection( ritter96,
author = "G.X. Ritter and J. N. Wilson",
title = "Handbook of Computer Vision Algorithms in Image Algebra",
publisher = "CRC Press",
pages = "173-179",
year = "1996")

@inproceedings( rivest87,
	author = "R. L. Rivest and R. E. Schapire",
	title = "A New Approach to Unsupervised Learning in
Deterministic Environments",
	booktitle = "Fourth Int. Workshop on Machine Learning",
	year = 1987
)

@inproceedings( rivest89,
	author = "R. L. Rivest and R. E. Schapire",
	title = "A New Approach to Unsupervised Learning in
Deterministic Environments",
	booktitle = "Fundamentals of Computer Science",
	year = 1989
)

@article( robinson74,
author = "D. E. Robinson and S. Lees and L. Bess",
title = "Near Field Transient Radiation PAtterns for Circular
Pistons",
journal = "{IEEE} Trans.\ Acoustics, Speech and Signal Processing",
volume = "ASSP-22",
pages = "395-403",
year = "1974") 

@incollection( robinson78,
title = "Digital Signal Processing in Geophysics",
author = "E. A. Robinson and S. Treitel",
booktitle = "Applications of Digital Signal Processing",
editor = "Alan V. Oppenheim",
publisher = "Englewood Cliffs, NJ: Prentice-Hall",
pages = "439-491",
year = "1978")

@book( robinson94,
title = "Oceanography and Acoustics: Prediction and Propagation
Models", 
editor = "A. R. Robinson and D. Lee",
publisher = "New York: AIP Press", 
year = "1994")


@techreport( robinson94a,
title = "Physical processes, field estimation, and an approach to
interdisciplinary ocean modeling",
author = "A. R. Robinson",
institution = "Department of Earth and Planetary Science, Harvard
University", 
month = "October",
year = "1994")

@ARTICLE( rock90,
AUTHOR = "I. Rock and S. Palmer",
TITLE = "The Legacy of Gestalt Psychology",
JOURNAL = "Scientific American",
VOLUME = "263",
NUMBER = "6",
PAGES = "84-90",
MONTH = "December",
YEAR = "1990" )

@inproceedings( rockmore79,
author = "A. J. Rockmore",
title = "Multi-array Surfeillance Processing Using Image
Reconstruction",
booktitle = "Proc. {IEEE} Asilomar Conf. on Circuits, Systems, and
Computers",
address = "Pacific Grove, CA",
month = "November",
pages = "119-124",
year = "1981")

@book( roitblat87,
author = "H. L. Roitblat",
title = "Introduction to Comparative Cognition",
publisher = "New York: W. H. Freeman and Company",
year = "1987")

@incollection( roitblat90,
author = "H. L. Roitblat and R. A. Penner and P. E. Nachtigall",
title = "Attention and Decision-making in Echolocation
Matching-to-Sample by a Bottlenose Dolphin {({\em Tursiops
truncatus})}: The Microstructure of Decision-making",
editor = "J. A. Thomas and R. A. Kastelein",
booktitle = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
pages = "665-676",
year = "1990")

@incollection( roitblat90a,
author = "H. L. Roitblat",
title = "Concluding Comments on Other Sensory Abilities",
editor = "J. A. Thomas and R. A. Kastelein",
booktitle = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
pages = "699-702",
year = "1990")

@inproceedings( roitblat95,
author = "H. Roitblat and W. Au and P. Nachtigall and R. Shizumura and
F. Moons",
title = "Sonar recognition of targets embedded in sediment",
booktitle = "Proceedings of the Autonomous Vehicles in Mine
Countermeasures Symposium",
pages = "6-188 -- 6-200",
publisher = "Naval Postgraduate School",
year = "1995")



@mastersthesis( rolt91,
author = "Kenneth D. Rolt",
title = "Ocean, Platform, and Signal Processing Effects on Synthetic
Aperture Sonar Performance",
school = "MIT",
month = "February",
year = "1991")

@article( rolt92,
author = "K. Rolt and H. Schmidt",
title = "Azimuthal Ambiguities in Synthetic Aperture Sonar and
Synthetic Aperture Radar Imagery",
journal = ieeejoe,
month = "January",
volume = "17",
number = "1",
pages = "73-79",
year = "1992")

@incollection( romanenko90,
author = "E. V. Romanenko",
title = "Purposeful Changes in the Structure of Echolocation Pulses in
{{\em Tursiops truncatus}}",
editor = "J. A. Thomas and R. A. Kastelein",
booktitle = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
pages = "317-320",
year = "1990")

@inproceedings( rosenblum92,
author = "L. Rosenblum and B. Kamgar-Parsi",
title = "3-D Reconstruction of small underwater objects using high
resolution sonar data",
address = "Washington, DC",
booktitle = "IEEE Conference on Autonomous Underwater Vehicles",
pages = "228-235",
year = "1992")

@techreport( russell69,
author = "Lindsay Russell",
title = "Pathsounder Instructor's Handbook",
institution = "MIT Sensory Aids Evaluation and Development Center",
month = "January",
year = "1969")

@book( russell91,
author = "S. Russell and E. Wefald",
title = "Do the right thing : studies in limited rationality",
publisher = "MIT Press",
year = "1995")

@book( russell95,
author = "S. Russell and P. Norvig",
title = "Artificial Intelligence A Modern Approach",
publisher = "Prentice Hall",
year = "1995")


@inproceedings( sabatini92,
author = "A. M. Sabatini",
title = "Active Hearing for External Imaging Based on an Ultrasonic
Transducer Array",
booktitle = iros,
pages = "829-836",
year = "1992")

@inproceedings( salagnac89,
AUTHOR = "J-L. Salagnac",
TITLE =  "Development of Positioning Systems for Automations Robots on
Construction Sites",
BOOKTITLE = sifir,
ADDRESS = "Zaragoza, Spain",
PAGES = "213-217",
YEAR = "1989" )


@inproceedings( salichs89,
AUTHOR = "M. Salichs and  L. Moreno and A. Iborra",
TITLE =  "Ultrasonic Beacon System for Mobile Robots",
BOOKTITLE = sifir,
ADDRESS = "Zaragoza, Spain",
PAGES = "218-221",
YEAR = "1989" )

@inproceedings( salisbury88,
author = "K. Salisbury and W. Townsend and B. Eberman and D.
DePietro",
title = "Preliminary Design of a Whole-Arm Manipulator Systems ({WAMS})",
BOOKTITLE =  ieeeicra,
ORGANIZATION = "{IEEE}",
PAGES = "254-260",
YEAR = "1988" )


@inproceedings( sam_smith95,
author = "S. M. Smith  and  S. E. Dunn",
title = "The {O}cean {E}xplorer {AUV}: A Modular Platform for Coastal Sensor Deployment",  
booktitle = "Proceedings of the Autonomous Vehicles in Mine
Countermeasures Symposium",
publisher = "Naval Postgraduate School",
year = "1995")

@book( samson91,
author = "C. Samson and M. LeBorgne and B. Espiau",
title = "Robot Control: The Task Function Approach",
publisher = "Clarendon Press: Oxford",
year = "1991")

@article( sandwell90,
		  author = "D. T. Sandwell",
		  title = "Geophysical Applications of Satellite
		  Altimetry",
		  journal = "Reviews of Geophysics Supplement",
		  pages = "132-137",
		  year = 1990)

@misc( sandwell97,
author = "D. T. Sandwell",
title = "Exploring the ocean basins with satellite altimeter data",
note = "http://julius.ngdc.noaa.gov/mgg/bathymetry/predicted/explore.HTML",
year = 1997)

@article( sapidis95,
author = "N. S. Sapidis and P. J. Besl",
title = "Direct Construction of Polynomial Surfaces from Dense Range
Images through Region Growing",
journal = "{ACM} Transactions on Graphics",
Volume = "14",
number = "2",
month = "April",
pages = "171-200",
year = "1995")

@INPROCEEDINGS( sarachik89,
AUTHOR = "K. Sarachik",
TITLE = "Characterizing an Indoor Environment with a Mobile Robot and 
Uncalibrated Stereo",
BOOKTITLE = ieeeicra,
PAGES = "984",
YEAR = "1989" )


@inproceedings( sasaki92,
author = "K. Sasaki and M. Takano",
title = "Classification of Objects' Surface Acoustic Transfer Function",
booktitle = iros,
pages = "821-828",
year = "1992")

@incollection( sato86,
author = "Takusa Sato and Osamu Ikeda",
title = "Sequential Synthetic Aperture Sonar System --- A Prototype of a
Synthetic Aperture Sonar System", editor = "H. Lee and G. Wade",
booktitle = "Modern Acoustical Imaging",
publisher = "IEEE Press",
pages = "58-64",
note = "Reprinted from {\em IEEE Trans.\ Sonics Ultrason.}, Volume
SU-24, pp. 253-259, July 1977",  
year = "1986")

@article( satyapal93,
title = "Space/time characteristics of localized transient fields from
planar axisymmetric sources",
author = "S. Satyapal and P. R. Stepanishen",
volume = "93",
pages = "821",
year = "1993")

@inproceedings( sayers95,
author = "C. Sayers and A. Lai and R. Paul",
title = "Visual Imagery for Subsea Teleprogramming",
booktitle = ieeeicra,
year = "1995")

@mastersthesis( schapire88,
author = "R. Schapire",
title = "Diversity-Based Inference of Finite Automata",
school = "Massachusetts Institute of Technology",
year = "1988")

@book( scharf91,
author = "L. L. Scharf",
title = "Statistical Signal Processing: Detection, Estimation, and
Time Series Analysis",
publisher = "Reading, MA: Addison-Wesley",
year = "1991")

@incollection( schmidt89,
author = "H. Schmidt and A. Baggeroer and W. Kuperman and E. Scheer",
title = "Robust Beamforming for Matched Field Processing under
Realistic Environmental Conditions",
booktitle = "Underwater Acoustic Data Processing",
publisher = "Dordrecht: Kluwer Academic Publishers",
pages = "427-431",
year = "1989")


@inproceedings( schmidt96,
author = "H. Schmidt and J. Bellingham and M. Johnson and D. Herold
and D. Farmer and R. Pawlowcisz", 
title = "Real-time Frontal Mapping with {AUVs} in a Coastal Environment",
booktitle = "IEEE Oceans",
pages = "1094-1098",
year = "1996")

@techreport( schmidt98,
author = "H. Schmidt",
title = "{GOATS-98} --- {AUV} Network Sonar Concepts for Shallow Water
                  Mine Countermeasures",
institution = "SACLANT Undersea Research Centre",
number = "SACLANTCEN SR-302",
year = "1998")


@INPROCEEDINGS( schultz98,
AUTHOR = "A. C. Shultz and W. Adams",
TITLE = "Continuous Localization Using Evidence Grids",
BOOKTITLE =  ieeeicra,
PAGES = "2833-2839",
YEAR = "1998" )

@INPROCEEDINGS( schunck85,
AUTHOR = "B. G. Schunck",
TITLE = "Image Flow: Fundamentals and Future Research",
BOOKTITLE =  ieeeicra,
PAGES = "560-571",
YEAR = "1985" )

@incollection( schusterman88,
author = "R. J. Schusterman",
title = "Cognition and Echolocation of Dolphins",
booktitle = "Animal Sonar: Processes and Performance",
editor = "P. Nachtigall and P. Moore",
publisher = "New York: Plenum Press",
pages = "691-701",
year = "1988")

@incollection( schusterman90,
author = "R. J. Schusterman",
title = "Stimulus Equivalence and Cross-modal Perception: A Testable
Model for Demonstrating Symbolic Representations in Bottle-nose Dolphins",
editor = "J. A. Thomas and R. A. Kastelein",
booktitle = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
pages = "677-684",
year = "1990")

@inproceedings( schweizer91,
author = "P. Schweizer and W. Petlevich and P. Haley and J. Oravec",
title= "Image Processing Architectures for Autonomous Underwater
Vehicles ({AUV}s) in Mine Detection and Classification Operations",
booktitle = uust,
pages = "280-293",
year = "1991")

@article( sear92,
author = "C. B. Sear and P. Wadhams",
title = "Statistical propoerties of {A}rctic sea ice morphology
derived from sidescan sonar images",
journal = "Prog. Oceanog.",
pages = "133-160",
volume = "29",
year = "1992")

2@book( shung92,
author = "K. Shung and M. Smith and B. Tsui",
title = "Principles of Medical Imaging",
publisher = "San Diego: Academic Press, Inc.",
year = "1992")

@incollection( sears89,
title = "Experience with the Utah Arm, Hand, and Terminal Device",
author = "H. Sears and T. Andrew and S. Jacobsen",
booktitle = "Experience with Upper-Limb Amputee",
publisher = "Springer Verlag",
note = "Chaper 18",
year = "1989")

@book( seber89,
author = "G. A. F. Seber and C. J. Wild",
title = "Nonlinear Regression",
publisher = "New York: John Wiley and Sons",
hayden_call_number = "QA278.2.S425",
year = "1989")

@techreport( sherbrooke91,
author = "E. C. Sherbrooke and N. M. Patrikalakis",
title = "Computation of the Real Solutions of Nonlinear Polynomial Systems",
institution = "MIT Ocean Engineering Design Laboratory",
number = "91-12",
year = "1991")



@book( sherman84,
author = "S. M. Sherman",
title = "Monopulse Principles and Techniques",
publisher = "Boston: Artech House",
year = "1984")

@Article{shin87,
  author = 	 "Shin, K. and Epstein, M.",
  title = 	 "Intertask Communications in an Integrated Multirobot System",
  journal = 	 "IEEE Journal of Robotics and Automation",
  year = 	 "1987",
  volume = 	 "RA-3",
  number = 	 "2",
  pages = 	 "111-121",
  month = 	 "April"
}

%% Also check The Journal of Comparative Psychology,
%% Volumes 166 and 167, 1990 for other papers by Simmons
%% Also Nobuo Suga in Scientific American

@inproceedings( short89,
author = "R. D. Short",
title = "The Modern Intelligent Mine and its Implications for Mine
Warfare Vessels",
booktitle = "International Conference on Mine Warfare Vessels and
Systems 2",
publisher = "The Royal Institution of Naval Architects",
address = "London",
year = "1989")

@inproceedings( short89,
author = "R. D. Short",
title = "The Modern Intelligent Mine and its Implications for Mine
Warfare Vessels",
booktitle = "International Conference on Mine Warfare Vessels and
Systems 2",
publisher = "The Royal Institution of Naval Architects",
address = "London",
year = "1989")

@inproceedings( shvaytser90,
author = "H. Shvaytser",
title = "Towards a Computational Theory of Model Based Vision and Perception",
booktitle = iccv,
pages = "283-286",
year = "1990",
address = "Osaka, Japan" )


@techreport( siegel86,
author = "D. M. Siegel",
title = "Contact sensors for dextrous hands",
institution = "MIT Artificial Intelligence Laboratory",
address = "Cambridge, MA",
number = 900, year = 1986)

@phdthesis( siegel91,
author = "D. Siegel",
title = "Pose Determination of a Grasped Object Using Limited
Sensing",
school = "MIT",
year = "1991")

@article( simmons89,
author = "J. A. Simmons",
title = "A View of the World through the Bat's Ear: The Formation of
Acoustic Images in Echolocation",
journal = "Cognition",
volume = "33",
pages = "155-199",
year = "1989")

@article( simmons92,
author = "J. A. Simmons and P. A. Saillant and S. P. Dear",
title = "Through a Bat's Ear",
journal = "{IEEE} Spectrum",
month = "March",
pages = "46-48",
year = "1992")

@article( singer73,
author = "R. A. Singer and R. G. Sea ",
title = "New Results in Optimizing Surveillance System Tracking and Data Correlation Performance in Dense Multitarget Environments",
journal = ieeeac,
volume = "AC-18",
number = "6",
month = "December",
year = "1973")

%
%           AUTHOR :Smith, Christopher Michael.
%            TITLE :Action seletion and vertical plane dynamic control for
%                   survey-class autonomous underwater vehicles /
%        PUBLISHED :c1994.

@INPROCEEDINGS( singh95,
AUTHOR = "H. Singh and D. Yoerger and R. Bachmayer and A. Bradley and
W. Stewart",
TITLE = "Sonar mapping with the autonomous benthic explorer ({ABE})",
BOOKTITLE = uust,
pages = "367-375",
MONTH = "September",
YEAR = "1995" )

@phdthesis( singh95b,
author = "H. Singh",
title = "An entropic framework for AUV sensor modelling",
school = "Massachusetts Institute of Technology",
year = "1995")

@inproceedings( singh96,
author = "H. Singh and J. Catipovic and R. Eastwood and L. Freitag and
H. Henriksen and F. Hover, F and D. Yoerger and J. G. Bellingham and
B. A. Moran",
title = "An Integrated Approach to Multiple {AUV} Communications,
                  Navigation and Docking", 
booktitle = "IEEE Oceans",
year = "1996")

@book( skolnick81,
author = "M. Skolnick",
title = "Introduction to Radar Systems",
publisher = "New York: McGraw-Hill",
year = "1981" )


@article( slotine86,
TITLE = "Inverse Kinematics Algorithm for Redundant Manipulators",
AUTHOR = "J.-J. E. Slotine and D. R. Yoerger",
JOURNAL = "International Journal of Robotics and Automation",
VOLUME = 2, NUMBER = 4,
YEAR = 1986 )

@article( slotine86a,
TITLE = "Adaptive Sliding Controller Synthesis for Nonlinear Systems",
AUTHOR = "J.-J. E. Slotine and J. A. Coetsee",
JOURNAL = "International Journal of Control",
YEAR = 1986 )

@ARTICLE( smith75,
AUTHOR = "P. Smith and G. Buechler",
TITLE = "A Branching algorithm for discriminating and tracking mulitiple objects",
JOURNAL = "{IEEE} Transactions on Automatic Control",
VOLUME = "AC-20",
PAGES = "101-104",
YEAR = "1975" )

@ARTICLE( smith87,
AUTHOR = "R. Smith and P. Cheeseman",
TITLE = "On the Representation and Estimation of Spatial Uncertainty",
JOURNAL = "International Journal of Robotics Research",
VOLUME = "5",
NUMBER = "4",
PAGES = "56",
YEAR = "1987" )

@INCOLLECTION( smith87b,
AUTHOR = "R. Smith and M. Self and P. Cheeseman",
TITLE = "A Stochastic Map For Uncertain Spatial Relationships",
BOOKTITLE = "4th International Symposium on Robotics Research",
PUBLISHER = "MIT Press",
YEAR = "1987" )

@INCOLLECTION( smith90,
AUTHOR = "R. Smith and M. Self and P. Cheeseman",
TITLE = "Estimating Uncertain Spatial Relationships in Robotics",
BOOKTITLE = "Autonomous Robot Vehicles",
EDITOR = "I. Cox and G. Wilfong",
PUBLISHER = "Springer-Verlag",
YEAR = "1990" )

@inproceedings( smith95,
author = "S. M. Smith and S. E. Dunn", 
title = "The Ocean Explorer AUV: A Modular Platform for Coastal Sensor
                  Deployment",  
booktitle = "Proceedings of the Autonomous Vehicles in Mine
Countermeasures Symposium",
publisher = "Naval Postgraduate School",
year = "1995")

		  
% Samuel M. Smith & Stanley E. Dunn, "," Autonomous
%               Vehicles in Mine Countermeasures Symposium, Naval
%               Postgraduate School, April 47 1995.


@inproceedings( smith97,
author =      "C. M. Smith and J. J. Leonard and A. A. Bennett and C. Shaw",
title = "Concurrent mapping and localization for autonomous underwater
vehicles",
booktitle = "Undersea Defence Technology",
pages = "338-342",
year = "1997"
);

@inproceedings( smith97b,
author =      "C. M. Smith and J. J. Leonard and A. A. Bennett and C. Shaw",
title = "Feature-based concurrent mapping and localization for
autonomous underwater 
vehicles",
booktitle = "IEEE Oceans",
year = "1997"
)

@inproceedings( smith97c,
author =      "C. M. Smith and J. J. Leonard",
title = "A multiple hypothesis approach to concurrent mapping and
localization for autonomous underwater vehicles",
booktitle = "International Conference on Field and Service Robotics",
address = "Sydney, Australia",
year = "1997"
)

@phdthesis( smith98,
author = "C. M. Smith",
title = "Integrating Mapping and Navigation",
school = "Massachusetts Institute of Technology",
year = "1998")

@INPROCEEDINGS( smith98b,
AUTHOR = "C. M. Smith and H. J. S. Feder and J. J. Leonard",
TITLE = "Making Difficult Decisions Autonomously: The Impact of
Integrated Mapping and Navigation",
booktitle = "IEEE AUV",
address = "Cambridge, MA",
month = "August",
YEAR = "1998" )

@INPROCEEDINGS( smith98c,
AUTHOR = "C. M. Smith and H. J. S. Feder and J. J. Leonard",
TITLE = "Multiple Target Tracking with Navigation Uncertainty",
booktitle = "{IEEE} Int. Conference on Decision and Control (CDC)",
address = "Tampa, FL",
month = "December",
YEAR = "1998" )

@inproceedings( snydsman87,
author = "W. E. Snysden and F. Aminzadeh and C. B. Weil",
title = "Pattern Recognition in Geophysical Exploration",
booktitle = "SPIE International Symposium on Pattern Recognition and
Acoustical Imaging",
volume = "768",
pages = "53-60",
year = "1987")

@Book{sobel95,
  author =	 {D. Sobel},
  title = 	 {Longitude: The True Story of a Lone Genius Who Solved the Greatest Scientific Problem of His Time},
  publisher = 	 {Penguin Books},
  year = 	 1995
}

@INPROCEEDINGS( sobh95,
AUTHOR = "T. M. Sobh and T. C. Henderson and F. Zana",
TITLE = "A Unifying Framework for Tolerance Analysis in Sensing,
Design, and Manufacture",
BOOKTITLE = ieeeicra,
PAGES = "2859-2864",
MONTH = "May",
YEAR = "1995" )

@inproceedings( soldo90,
author = "M. Soldo",
title = "Reactive and Pre-planned Control in a Mobile Robot",
BOOKTITLE = ieeeicra,
PAGES = "1128",
MONTH = "May",
YEAR = "1990" )

@article( sorenson70,
author = "H. W. Sorenson",
title = "Least-Squares Estimation: from {G}auss to {K}alman",
journal = "{IEEE} Spectrum",
volume = "7",
number = "7",
month = "July",
pages = "63-68",
year = "1970" )

@article( sorenson83,
	author = "H. W. {Sorenson, editor} ",
	title = "Special Issue on Applications of {K}alman Filtering",
	journal = ieeeac,
	volume = "AC-28",
	number = "3",
	year = 1983
)

@book( sorenson85,
editor = "H. W. Sorenson",
title = "Kalman Filtering: Theory and Application",
publisher = "IEEE Press",
year = 1985)

@incollection( sorensor88,
author = "H. W. Sorenson",
editor = "James C. Spall",
title = "Recursive Estimation for Nonlinear Dynamic Systems",
booktitle = "{B}ayesian Analysis of Time Series and Dynamic Models",
pages = "127-166",
year = "1988")

@misc( speiss83,
author = "F. Speiss and C. Cox and E. Hays and R. Porter and F. Roberts", 
title = "Seafloor Referenced Positioning: Needs and Opportunities --- Report of
the Panel on Ocean Bottom Positioning",
organization = "National Research Council Committee on Geodesy",
publisher = "National Academy Press",
year = "1983")

@article( sponheim91,
author = "N. Sponheim and I. Johansen",
title = "Experimental Results in Ultrasonic Tomography Using a
Filtered Backprojection Algorithm",
jounral = "Ultrasonic Imaging",
volume = "13",
pages = "56-70",
year = "1991")

@article( stansfield88,
author = "S. A. Stansfield",
title = "A Robotic Perceptual System utilizing passive vision and
active touch",
journal = "International Journal of Robotics Research",
volume = "7",
number = "6",
year = "1988" )

@techreport( stansfield89,
author = "S. A. Stansfield",
title = "Robotic Grasping of Unknown Objects: A Knowledge-based
Approach", 
institute = "Sandia National Laboratory",
address = "Albuquerque, NM",
number = "{SAND}89-1087",
year = "1989")

@book( stansfield91,
author = "D. Stansfield",
title = "Underwater Acoustic Transducers",
publisher = "Bath University Publishers",
address = "Bath, England",
year = "1991")

@mastersthesis( stasior90,
author = "W. Stasior",
title = "Autonomous Localization for Underwater Vehicles",
school = "MIT",
month = "December",
year = "1990")

@PHDTHESIS( steer85,
AUTHOR = "B. Steer",
TITLE = "Navigation for the Guidance of a Mobile Robot",
SCHOOL = "Warwick University",
YEAR = "1985" )

@INPROCEEDINGS( steer88b,
AUTHOR = "B. Steer",
TITLE = "Intelligence from action: Embedding Sensor based Safety and Protection Mechanisms into the Behavior of Autonomous Mobile Robots",
BOOKTITLE = "2nd Int. Advanced Robotics Workshop on: Manipulators, Sensors, and Step Towards Mobility",
ADDRESS = "Manchester, England",
YEAR = "1988" )

@ARTICLE( steer89a,
	AUTHOR = "B. Steer",
	TITLE = "Trajectory Planning for a Mobile Robot",
	journal=ijrr,
	volume=8,
	number=5,
	pages="3--14",
	YEAR = "1989" )

@inproceedings( steer89b,
author = "B. Steer",
TITLE = "Experiments and Theory with a 0.5 Ton Mobile Robot",
BOOKTITLE = "1st Int. Symposium on Experimental Robotics",
YEAR = "1989",
ADDRESS = "Montreal, Canada" )

@inproceedings( steer89c,
author = "B. Steer",
title = "Protective Autonomy for Improved Remote Control of Mobile Robots", 
BOOKTITLE = iros,
YEAR = "1989" ) 

@inproceedings( steer90,
author = "B. Steer",
title = "Design for Navigation",
BOOKTITLE = ieeeicra,
PAGES = "942",
MONTH = "May",
YEAR = "1990" )

@ARTICLE( steer:88,
AUTHOR = "B. Steer and T. Atherton",
TITLE = "On Sonar Sensing for  Mobile Robots",
JOURNAL = ieeera,
NOTE = "In the Press." )

@incollection( stein93, 
title = "Structural Indexing: Three Dimensional Object Recognition",
author = "F. Stein and F. Medioni",
editor = "A. K. Jain and P. J. Flynn",
booktitle = "Three-dimensional Object Recognition Systems",
publisher = "Elsevier Science Publishers",
pages = "353-373",
year = "1993")



@incollection( steinberg3,
author = "B. Steinberg",
title = "The Radio Camera",
editor = "Haykin and J. Litva and T. J. Shepherd",
booktitle = "Radar Array Processing",
publisher = "Berlin: Springer-Verlag",
pages = "295-310",
year = "1993")
4
@book( steinberg83,
author = "B. Steinberg",
title = "Microwave imaging with large antenna arrays : radio camera
principles and techniques",
publisher = "New York : Wiley",
barker_call_number = "TK7876.S736",
year = "1983")


@article( steinberg88,
author = "B. Steinberg",
title = "Microwave Imaging of Aircraft",
journal = "Proceedings of the {IEEE}",
volume = "76",
number = "12",
pages = "1578-1591",
year = "1988")



@inproceedings( steinberg91,
author = "B. Steinberg",
title = "Target Recognition and Detection Sensitivity in
High-Resolution Two-Dimensional Microwave Imaging",
editor = "B. Noel",
booktitle = "Ultra-Wideband Radar: Proceedings of the First Los Alomos
Symposium", 
pages = "309-320",
publisher = "Boca Raton: CRC Press",
year = "1991")

@book( steinberg91,
author = "B. Steinberg",
title = "Microwave Imaging Techniques",
publisher = "New York: Wiley",
year = "1991")

@article( stepanishen71,
author = "P. R. Stepanishen",
title = "Transient radiation from pistons in an infinite planar baffle",
volume = "49",
number = "5",
journal = jasa,
pages = "1629-1638",
year = "1971")

@article( stepanishen72,
author = "P. R. Stepanishen",
title = "Transient analysis of lumped and distributed parameter
systems using an approximate {Z} transform technique",
volume = "52",
journal = jasa,
pages = "270-281",
year = "1972");

@article( stepanishen81,
author = "P. R. Stepanishen",
title = "Pulsed transmit-receive response of ultrasonic piezoelectric
transducers", 
journal = jasa,
volume = "69",
pages = "1815-1827",
year = "1981"))

@book( sterelny90,
author = "K. Sterelny",
title = "The representational theory of mind : an introduction",
publisher = "Oxford: Basil Blackwell",
year = "1990",
hayden_call_number = "B105.R4.S73")

@book( stevens90,
author = "R. W. Stevens",
title = "Unix Network Programming",
publisher = "Prentice Hall",
year = "1990")

@phdthesis( stewart88,
author = "W. K. Stewart",
title = "Multisensor Modeling Underwater with Uncertain Information",
school = "Massachusetts Institute of Technology",
year = "1988")

@techreport( stewart89,
	key="Stewart",
	author="W. K. Stewart",
	title="Three-Dimensional Modeling of Seafloor Backscatter
		from Sidescan Sonar for Autonomous Classification
		and Navigation",
	note="(Reprint from the Proceedings of the Symposium on
		Unmanned Untethered Submersible Technology, June, 1989)",
	institution="Sea Grant College Program, Massachusetts
		Institute of Technology",
	type="MITSG",
	number="89-26J",
	year=1989)

@incollection( stewart91b,
author = "K. Stewart",
title = "Visualization Resources and Strategies for Remote Subsea
Exploration",
booktitle = "Scientific Visualization of Physical Phenomena",
editor = "N. M. Patrikalakis",
year = "1991",
pages = "85-109")

@inproceedings( stewart91c,
author = "W. K. Stewart",
title = "Remote Sensing Issues for Intelligent Underwater Systems",
booktitle = "International Conference on Computer Vision",
year = 1991,
pages = "230-235")

@Article{stewart96,
  author = 	 {W. Kenneth Stewart},
  title = 	 {Three-Dimensional Stochastic Modeling Using Sonar
		  Sensing for Undersea Robotics},
  journal = 	 {Autonomous Robots},
  year = 	 1996,
  volume =	 3,
  pages =	 {121--143},
  annote =	 {Describes an algorithm for 3D stochastic map
		  building for underwater environments, under the
		  constrains of (1) real time, (2) unstructured, three
		  dimensional terrain, (3) high-bandwidth sensor
		  providing redundant overlapping coverage, (4) lack
		  of prior knowledge about environment; (5) inherent
		  uncertainty and ambiguity in sensins. Developes the
		  underlying theory for {\em stochastic
		  backprojection}. }
}

@Article{storkersen98,
  author = 	 {N. St{\o}rkersen and J. Kristensen and A. Indreeide and J. Seim and T. Glancy},
  title = 	 {{H}ugin --- {UUV} for Seabed Surveying},
  journal = 	 {{S}ea {T}echnology},
  year = 	 1998,
  month =	 {February}
}

@book( strang96,
author = "G. S. Strang",
title = "Wavelets and filter banks",
publisher = "Wellesley, MA: Wellesley-Cambridge Press",
year = "1996")

@phdthesis( streitlien90,
author = "K. Streitlien",
title = "Autonomous underwater vehicles as instrument platforms in the
study of mesoscale eddies in the ocean", 
school = "Massachusetts Institute of Technology",
year = "1990")

@INCOLLECTION( sugihara87,
AUTHOR = "K. Sugihara",
TITLE = "Location of a Robot Using Sparse Visual Information",
BOOKTITLE = "4th International Symposium on Robotics Research",
PUBLISHER = "MIT Press",
PAGES = "319-326",
YEAR = "1987" )

@inproceedings(sukkarieh97,
author = "S. Sukkarieh and E. M. Nebot and H. F. Durrant-Whyte",
title = "The {GPS} aiding of {INS} for land vehicle navigation",
booktitle = "International Conference on Field and Service Robotics",
publisher = "Panther Publishing and Printing",
pages = "278--285",
address = "Canberra, Australia",
year = "1997")

@text( tyack85,
author = "P. Tyack",
title = "An optical telemetry device to identify which dolphin
produces a sound",
journal = jasa,
volume = "78",
number = "5",
pages = "1892-1895",
year = "1985")

@article( sullivan92,
author = "E. Sullivan and W. Carey and S. Stergiopoulos (editors)",
title = "Special issue on acoustic synthetic aperture processing",
journal = ieeejoe,
month = "January",
volume = "17",
number = "1",
year = "1992")

@incollection( sutton86,
author = "J. L. Sutton",
title = "Underwater Acoustic Imaging",
editor = "H. Lee and G. Wade",
booktitle = "Modern Acoustical Imaging",
publisher = "IEEE Press",
pages = "229-241",
note = "Reprinted from {\em Proc. IEEE}, Volume 67, pp. 554-566, Apr.\ 1979",
year = "1986")

@INCOLLECTION( tachi85,
AUTHOR = "S. Tachi and K. Komoriya",
TITLE = "Guide Dog Robot",
BOOKTITLE = "2nd International Symposium on Robotics Research",
PUBLISHER = "MIT Press",
PAGES = "333-340",
YEAR = "1985" )

@inproceedings( tarassenko91,
author = "L. Tarassenko and M. Brownlow and G. Marshall and J. Tombs
and A. Murray",
title =  "Real-time autonomous robot navigation using {VLSI} neural
networks",
booktitle = "Advances in Neural Information Processing Systems",
volume = "3",
editor = "R. Lippmann and J. Moody and D. Touretzky",
year = "1991",
pages = "422-428",
publisher = "Morgan Kaufmann")


@inproceedings( tardos89,
AUTHOR = "J. Tardos and M. Silva",
TITLE =  "Multisensor Object Recognition Using an Hypothesis Verification Scheme",
BOOKTITLE = sifir,
ADDRESS = "Zaragoza, Spain",
PAGES = "265-272",
YEAR = "1989" )

@article( tarjan86,
	author = "N. Sarnak and R. E. Tarjan",
	title = "Planar Point Location Using Persistent Search Trees",
	journal = "Communications of the ACM",
	year = 1986,
	pages = "669-679"
)


@INPROCEEDINGS( teller98,
AUTHOR="S. Teller",
TITLE = "Automated Urban Model Acquisition",
BOOKTITLE = "DARPA Image Understanding Workshop",
YEAR = "1998")


@misc( teller99,
author = "S. Teller",
title = "{MIT} {C}ity {S}canning {P}roject",
note = "{\tt http://graphics.lcs.mit.edu/city/city.html}",
year = "1999")



@article( terzopoulos87,
author = "D. Terzopoulos and J. Platt and A. Barr and K. Fleisher",
title = "Elastically Deformable Models",
journal = "Computer Graphics",
volume = "21",
number = "3",
pages = "205-214",
year = "1987")


@PhdThesis{thau97,
  author = 	 {R. S. Thau},
  title = 	 {Reliably mapping a robot's environment using fast vision and
                  local, but not global, metric data},
  school = 	 {Massachusetts Institute of Technology},
  year = 	 1997
}

@book( thomas90,
editor = "J. A. Thomas and R. A. Kastelein",
title = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
year = "1990")

@incollection( thomas90a,
author = "J. A. Thomas and C. W. Turl",
title = "Echolocation Characteristics and Range Detection Threshold of
a False Killer Whale",
editor = "J. A. Thomas and R. A. Kastelein",
booktitle = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
pages = "321-334",
year = "1990")

@incollection( thompson95,
author = "W. B. Thomspon and H. J. de St.\ Germain and T. C. Henderson
and J. C. Owen",
title = "Constructing High-Precision Geometric Models from Sensed
Position Data",
booktitle = "{ARPA} Image Understanding Workshop",
year = "1995")

@techreport ( thompson95b,
author = "W. B. Thompson and J. C. Owen and H. J. de St.\ Germain",
ttle = "Feature-based Reverse Engineering of Mechanical Parts",
number = "UUCS-95-010",
school = "University of Utah",
date = "November 6",
year = "1995")

@ARTICLE( thorpe88,
AUTHOR = "C. Thorpe and M. Hebert and T. Kanade and S. Shafer",
TITLE = "Vision and Navigation for the Carnegie-Mellon Navlab",
JOURNAL = "{IEEE} Transactions on Pattern Anaysis and Machine Intelligence",
VOLUME = "PAMI-10",
NUMBER = "3",
MONTH = "May",
PAGES = "362-373",
YEAR = "1988" )

@article( thrun97,
author = "S. Thrun",
title = "To Know or Not To Know: On the Utility of Models in
Mobile Robotics",
journal = "{AI} Magazine",
pages = "1",
volume = "18",
year = "1997")

@article( thrun98,
author = "S. Thrun and D. Fox and W. Burgard",
title = "A Probabilistic Approach to Concurrent Mapping and
                  Localization for Mobile Robots",
journal = "Machine Learning",
pages = "29-53",
volume = "31",
year = "1998")




@InProceedings{thrun98a,
  author = 	 {S. Thrun and J.-S. Gutmann and D. Fox and W. Bugard and B. J. Kuipers},
  title = 	 {Integrating Topological and Metric Maps for Mobile Robot Navigation: A Statistical Approach},
  booktitle = 	 {AAAI-98},
  year =	 1998
}

@inproceedings( tilove90,
author = "R. B. Tilove",
title = "Local Obstacle Avoidance for Mobile Robots Based on the
Method of Artificial Potentials",
BOOKTITLE =  ieeeicra,
PAGES = "566",
YEAR = "1990" )

		  
@inproceedings( tomovic87,
author = "R. Tomovic and G. A. Bekey and W. J. Karplus",
title = "A strategy for grasp synthesis with multifingered hands",
booktitle = ieeeicra,
address = "Raleigh, NC",
pages = "83--89", year = 1987)

@article( torrance67,
author = "K. Torrance and E. Sparrow",
title = "Theory for Off-Specular Reflection from Roughened Surfaces",
journal = "Journal of the Optical Society of America",
volume = "57",
year = "1967")

@INCOLLECTION( torrieri90,
AUTHOR = "D. J. Torrieri",
TITLE = "Statistical Theory of Passive Location Systems",
BOOKTITLE = "Autonomous Robot Vehicles",
EDITOR = "I. Cox and G. Wilfong",
PUBLISHER = "Springer-Verlag",
YEAR = "1990" )

@inproceedings( toscani88,
author = "G. Toscani and R. Deriche and O. Faugeras",
title = "3{D} Motion Estimation Using a Token Tracker",
booktitle = "IAPR Workshop on computer Vision (Special Hardware and Industrial Applications",
address = "Tokyo, Japan",
month = "October",
year = "1988" )

@book( tou74,
author = "J. T. Tou and R. C. Gonzalez",
title = "Pattern Recognition Principles",
publisher = "Addison-Wesley",
year = "1974")

@mastersthesis( tracey92,
		  author = "B. H. Tracey",
		  title = "Design and testing of an acoustic
		  ultra-short baseline navigation system",
		  school = "Massachusetts Institute of Technology",
address = "Cambridge, MA, USA",
		  year = 1992)

@inproceedsings( vieville,
author = "T. Vieville",
title = "Estimation of 3-{D}-motion and structure from tracking 2-{D}-lines in a sequence of images",
booktitle = "1st European Conference on Computer Vision" )

@misc( trc91,
author = "{Transitions Research Corporation, 
15 Great Pasture Road, Danbury, CT 06810}",
title = "Commercial Offer: {H}elp{M}ate",
year = "1991")


@ARTICLE( trevelyan89,
AUTHOR = "J. Trevelyan",
TITLE = "Sensing and Control for Sheep-Shearing Robots",
JOURNAL = ieeetra,
VOLUME = "5",
NUMBER = "6",
MONTH = "December",
YEAR = "1989" )

@article( triantafyllou83,
author = "M. S. Triantafyllou and M. Bodson and M. Athans",
title = "Real Time Estimation of Ship Motions Using Kalman Filtering
Techniques", 
journal = ieeejoe,
volume = "OE-8",
number = "1",
year = "1983")

@inproceedings( triantafyllou91,
author = "M. Triantafyllou and K. Streitlien",
title = "Distributed Control of Multiple {AUV}s Forming Effective Chains",
booktitle = uust,
pages = "273-279",
year = "1991")

@inproceedings( trimble91,
author = "G. Trimble and J. Vilaro and D. Okamura and R. Lum and K.
Dutta",
title = "Underwater Object Recognition and Automatic Positioning to
Support Dynamic Positioning",
booktitle = uust,
pages = "273-279",
year = "1991")


@inproceedings( trinkle87,
author = "J. C. Trinkle and J. M. Abel and R. P. Paul",
title = "Enveloping, Frictionless, Planar Grasping",
booktitle = ieeeicra,
address = "Raleigh, NC",
pages = "246--251", year = 1987)

@phdthesis( trinkle87b,
author = "J. C. Trinkle",
title = "The Mechanics and Planning of Enveloping Grasps",
school = "University of Pennsylvania",
year = "1987")


@inproceedings( trinkle88,
author = "J. C. Trinkle",
title = "Grasp Acquisition Using  Liftability Regions",
booktitle = ieeeicra,
address = "Philadelphia, PA",
year = 1988)

@article( trinkle88b,
author = "J. C. Trinkle and J. M. Abel and R. P. Paul",
title = "An Investigation of Frictionless Enveloping Grasping in the
Plane",
journal = ijrr,
volume = "7",
number = "3",
month = "June",
year = "1988")


@misc( tritech92,
author = "{Tritech International Limited, Aberdeen, Scotland}",
title = "Commercial offer: {ST1000} profiling sonar system",
year = "1992")

@misc( tritech93,
author = "{Tritech International Limited, Aberdeen, Scotland}",
title = "Commercial offer: {MES-200 and MES-500} miniature echosounders",
year = "1993")

@INPROCEEDINGS( tsuji85,
AUTHOR = "S. Tsuji and Y. Yagi and M. Asada",
TITLE = "Dynamic Scene Analysis for a Mobile Robot in a Man Made Environment",
BOOKTITLE = ieeeicra,
PAGES = "850",
YEAR = "1986" )


@INPROCEEDINGS( tsumura86,
AUTHOR = "T. Tsumura",
TITLE = "Survey of Automated Guided Vehicle in {J}apanese Factory",
BOOKTITLE = ieeeicra,
PAGES = "1329-1334",
YEAR = "1986" )

@INPROCEEDINGS( tsuzuki89,
AUTHOR = "F. Tsuzuki and L. Moscato and J. Adamowski",
TITLE = "A Sonar Based Environmental Sensory System for Mobile Robots",
BOOKTITLE = sifir,
ADDRESS = "Zaragoza, Spain",
PAGES = "228-233",
YEAR = "1989" )

@book( tucker66,
author = "D. Tucker and B. Gazey",
title = "Applied Underwater Acoustics",
publisher = "Oxford: Pergammon",
year = "1966")

@inproceedings( tuohy93,
author = "S. T. Tuohy and N. M. Patrikalakis and J. J. Leonard and J.
G. Bellingham and C. Chryssostomidis",
title = "{AUV} Navigation Using Geophysical Maps with Uncertainty",
booktitle = uust,
pages = "265-276",
year = "1993")

@phdthesis( tuohy93b,
author = "S. T. Tuohy",
title = "Geophysical Map Representation, Abstraction, and
Interrogation for Underwater Vehicle Navigation",
school = "MIT",
year = "1993")

@inproceedings(tuohy94,
	Title = "A Simulation Model for {AUV} Navigation",
	Author = "Tuohy, S. T.",
	Key = "Tuohy",
	booktitle = "Proceedings of the 1994 Symposium on Autonomous
		  Underwater Vehicle Technology",
	publisher = "IEEE",
	Year = "1994",
	Month = "July",
        pages = "470-478",
        organization = "The Oceanic Society of the IEEE"
)

@article( tuohy95a,
author =      "Tuohy, S. T. and Leonard, J. J. and Bellingham,
                  J. G. and Patrikalakis, N. M. and
                  Chryssostomidis, C.",
title = "Map Based Navigation for Autonomous Underwater Vehicles",
journal = "International Journal of Offshore and Polar Engineering",
month =       "March",
year =        1996,
volume =       "6",
number =       "1",
pages = "9-18",
)

@article(tuohy96
, author =	"Tuohy, S. T. and Leonard, J. J. and Bellingham,
		  J. G. and Patrikalakis, N. M. and
		  Chryssostomidis, C."
, title =	"Map Based Navigation for Autonomous Underwater Vehicles"
, journal =	"International Journal of Offshore and Polar Engineering"
, month =	"March"
, year =	1996
, volume = 	 "6"
, number = 	 "1"
, pages =	"9--18"
)

@article( tupholme69,
author = "G. E. Tuphome",
title = "Gernation of acoustic pulses by baffled plane pistons",
journal = "Mathematika",
volume = "16",
pages = "209-224",
year = "1969")

@book( turcotte82,
author = "D. Turcotte and G. Schubert",
title = "Geodynamics: Applications of Continuum Physics to Geological problems",
publisher = "New York: John Wiley and Sons",
year = "1982")

@ARTICLE( turk88,
AUTHOR = "M. Turk and D. Morgenthaler and K. Gremgan and M. Marra",
TITLE = "{VITS}--A Vision System for Autonomous Land Vehicle Navigation",
JOURNAL = "{IEEE} Transactions on Pattern Anaysis and Machine Intelligence",
VOLUME = "PAMI-10",
NUMBER = "3",
MONTH = "May",
PAGES = "342-361",
YEAR = "1988" )

@inproceedings( turk94,
author = "G. Turk and M. Levoy",
title = "Zippered Polygon Meshes from Range Images",
booktitle = "Computer Graphics Proceedings, Annual Conference Series",
publisher = "ACM SIGGRAPH",
pages = "311-318",
year = "1994")

@ARTICLE( turney85,
AUTHOR = "J. L. Turney and T. N. Mudge and R. A. Volz",
TITLE = "Recognizing Partially Occluded Parts",
JOURNAL = "{IEEE} Transactions on Pattern Anaysis and Machine Intelligence",
VOLUME = "PAMI-7",
NUMBER = "4",
MONTH = "July",
YEAR = "1985" )


@article( twersky57,
title = "On scattering and reflection of sound by rough surfaces",
author = "V. Twersky",
journal = jasa,
volume = "29",
pages = "209-225",
year = "1957")

@article( tyren82,
	key="Tyren",
	author="C. Tyren",
	title="Magnetic Anomalies as a Reference for Ground-speed and
		Map-Matching Navigation",
	pages="242-254",
	journal="The Journal of Navigation",
	volume=35,
	number=2,
	month="May",
	year=1982)

@inproceedings( tyren87,
author = "C. Tyren",
title = "Magnetic Terrain Navigation",
booktitle = uust,
pages = "245-256",
year = "1987") 

@book( uberall89,
editor = "H. Uberall",
title = "Acoustic Resonance Scattering",
publisher = "Gordon and Breach Science Publishers",
address = "Philadelphia",
year = "1989")

@phdthesis( uhlmann95,
author = "J. Uhlmann",
title = "Dynamic Map Building and Localization: New Theoretical Foundations",
school = "University of Oxford",
year = "1995" )

@misc( uhlmann_ciwg,
author = "J. K. Uhlmann and S. J. Julier and M. Csorba and H. F. Durrant-Whyte",  
title = "A Culminating Advance in the Theory and Practice of Data Fusion, Filtering, and Decentralized Estimation",
year = "1996",
note="Available from {\tt
http://ait.nrl.navy.mil/people/uhlmann/CovInt.html}")

@ARTICLE( ullman84,
AUTHOR = "S. Ullman",
TITLE = "Visual Routines",
JOURNAL = "Cognition",
VOLUME = "18",
PAGES = "97-160",
YEAR = "1984" )

@misc( unep97,
author = "United Nations Environment Programme",
title = "Northeast {R}ussian Petroleum Service Agency Facts",
note = "http://www.grid.unep.no/arci0025.htm",
year = 1997)

@book( urick83,
author = "R. Urick",
title = "Principles of Underwater Sound",
publisher = "New York: McGraw-Hill",
year = "1983")

@book( uslenghi78,
editor = "P. L. E. Uslenghi",
title = "Electromagnetic Scattering",
publsiher = "New York: Academic Press",
year = "1978")

@inproceedings( vaganay95a,
author = "J. Vaganay and V. Rigaud",
title = "Supervised navigation: optimal algorithm example and needs
for autonomous supervision",
BOOKTITLE = ieeeicra,
MONTH = "May",
YEAR = "1995" )

@inproceedings( vaganay95b,
author = "J. Vaganay and V. Rigaud",
title = "Autonomous navigation: an example of localization algorithm
switching based on navigation conditions",
booktitle = "7th Int. Conf. on Advanced Robotics", 
address = "Sant Feliu de Guixols, Spain", 
month = "September",
year = "1995")

@INPROCEEDINGS( vaganay96,
AUTHOR = "J. Vaganay and J. G. Bellingham and J. J.  Leonard",
TITLE = "Outlier Rejection for Autonomous Acoustic Navigation",
BOOKTITLE = ieeeicra,
MONTH = "April",
pages = "2174-2181",
YEAR = "1996" )



@ARTICLE( valiant84,
AUTHOR = "L. Valiant",
TITLE = "A theory of the learnable",
JOURNAL = "Communications of the ACM",
VOLUME = "27",
PAGES = "1134-1142",
YEAR = "1984" )

@article( vankervel83,
author = "S. J. H. van Kervel and J. M. Thijsen",
title = "A calculation scheme for the optimum design of ultrasonic
transducers", 
journal = "Ultrasonics",
volume  = "21",
pages = "134-140")


@book( venkataraman90,
editor = "S. T. Venkataraman and T. Iberall",
title = "Dextrous Robot Hands",
publisher = "Springer-Verlag",
year = "1990",
)

@inproceedings( venugopal91,
author = "K. Venugopal and A. Pandya and R. Sudhakar",
title = "Continuous Recognition of Sonar Targets using Neural Networks",
booktitle = spieaor,
volume = "1471",
pages = "44-53",
address = "Orlando, FL",
year = "1991")

@inproceedings( verly90,
author = "J. Verly and R. Delanoy",
title = "Appearance-Model-Based Representation and Matching of 3-{D} Objects",
booktitle = iccv,
pageS = "248",
year = "1990",
address = "Osaka, Japan" )

@misc( visbeck97,
author = "M. Visbeck",
title = "Labrador {S}ea experiment home page, 
{http://www.ldeo.columbia.edu/\verb+~+visbeck/labsea/}",
year = "1997")

@misc( visbeck98,
author = "M. Visbeck",
title = "Labrador {S}ea experiment home page, 
{http://www.ldeo.columbia.edu/\verb+~+visbeck/labsea/}",
year = "1998") 

@inproceedings( vonalt94,
author = "C. von Alt and  B. Allen and T. Austin and R. Stokey",
title = "Remote Environmental Monitoring Units",
booktitle = "AUV 94",
year = "1994")

@BOOK( vonneuman43,
AUTHOR = "J. VonNeuman and O. Morgenstern",
TITLE = "The theory of Games and Economic Behaviour",
PUBLISHER  = "Princton Press",
YEAR = "1943" )

@article( wadhams88,
author = "P. Wadhams",
title = "The Underside of Arctic Sea Ice Imaged by Sidescan Sonar",
year = "1988")

@inproceedings( wagner87,
author = "R. F. Wagner and M. F. Insana and D. G. Brown and S. W. Smith",
title = "Statistical physics of medical ultrasonic images",
booktitle = "SPIE International Symposium on Pattern Recognition and
Acoustical Imaging",
volume = "768",
pages = "22-27",
year = "1987")

@BOOK( wald47,
AUTHOR = "A. Wald",
TITLE = "Sequential Analysis",
PUBLISHER = "Dover Publications",
YEAR = "1947" )

@mastersthesis( wallar89,
author = "E. V. Waller",
title = "Design and Full Scale Testing of a Sliding Mode Controller for a
Small Underwater Vehicle",
school = "MIT Department Aeronautics and Astronautics",
year = "1989")


@inproceedings( walter87,
author = "S. A. Walter",
title = "The Sonar Ring: Obstacle Avoidance for a Mobile Robot",
BOOKTITLE = ieeeicra,
PAGES = "1574",
YEAR = "1987" )

@inproceedings( walton91,
author = "J. M. Walton",
title = "Advanced Unmanned Search System",
booktitle = "Oceans '91",
pages = "1392--1399",
year = 1991 )


@BOOK( waltz90,
EDITOR = "E. Waltz and J. Llinas",
TITLE = "Multisensor Data Fusion",
PUBLISHER = "Boston: Artech House",
YEAR = "1990" )


@incollection( wang91,
title = "Intersection of Parametric Surfaces For Next Generation Geometric Modelers",
author = "Y. Wang and E. Gursoz and J.-M. Chen and F. Prinz and N. M. Patrikalakis",
booktitle = "Product Modeling for Computer-Aided Design and Manufacturing",
editor = "J. Turner and J. Pegna and M. Wozny",
publisher = "Elsevier Science Publishers",
year = "1991")
year = 1990)


@book( wankat93,
title = "Teaching Engineering",
author = "P. C. Wankat and F. S. Oreovicz",
publisher = "McGraw Hill",
year = "1993")

@inproceedings( watanabe90,
author = "Y. Watanabe and S. Yuta",
title = "Position Estimation of Mobile Robots With Internal and
External Sensors Using Uncertainty Evolution Technique",
BOOKTITLE = ieeeicra,
PAGES = "2011",
YEAR = "1990" )


@book( waterman89,
author = "T. H. Waterman",
title = "Animal Navigation",
publisher = "Scientific American Library",
year = "1989")



@inproceedings( watson91,
author = "S. J. Watson and R. W. Uhrich",
title = "Advanced Unmanned Search System Image Compression and Data Format",
BOOKTITLE = "Oceans '91",
PAGES = "1407--1413",
YEAR = "1991" )

@incollection( webster66,
title = "Some Acoustical Differences Between Bats and Men",
booktitle = "Proceedings of the International Conference on Sensory
Devices for the Blind",
publisher = "London: St.\ Dunstan's",
pages = "63-88",
year = "1966")

@book( wegman84,
editor = "E. J. Wegman and J. G. Smith",
title = "Statistical Signal Processing",
publisher = "New York: Marcel Dekker",
year =  "1984")

@inproceedings( weigel91,
author = "A. Weigel",
title = "{DSV SEA CLIFF} Recovery of the {UAL} 811 Cargo Door",
booktitle = "IEEE Oceans",
pages = "175-178",
year = "1991")

@article( weight78,
author = "J. P. Weight and A. J. Hayman",
title = "Observations of the propagation of very short ultrasonic pulses and their reflection by small targets",
journal = jasa,
volume = "63",
pages = "396-404",
year = "1978")


@article( weight84,
author = "J. P. Weight",
title = "New Transducers for High Resolution Ultrasonic Testing",
journal = "NDT International",
volume = "17",
pages = "3-8",
year = "1984")

@ARTICLE( weiss87,
AUTHOR = "L. Weiss and A. Sanderson and C. Neuman",
TITLE = "Dynamic Sensor-Based Control of Robots with Visual Feedback",
JOURNAL = "{IEEE} Journal of Robotics and Automation",
VOLUME = "RA-3",
NUMBER = "5",
MONTH = "October",
YEAR = "1987" )

@inproceedsings( zhang88,
author = "Z. Zhang and O. Faugeras and N. Ayache",
title = "Calibration of a Mobile Robot with Application to Visual Navigation",
booktitle = "Second International Conference on Computer Vision",
ADDRESS = "Tampa, Florida",
MONTH = "December",
YEAR = "1988" )

@inproceedsings( zhang89,
author = "Z. Zhang and O. Faugeras",
title = "Calibration of a Mobile Robot with Application to Visual Navigation",
booktitle = "{IEEE} Workshop on Motion",
ADDRESS = "Irvine, California",
MONTH = "March",
YEAR = "1989" )

@inproceedsings( zhang90,
author = "Z. Zhang and O. Faugeras",
title = "Building a 3{D} World Model with a Mobile Robot: 3{D} Line
Segment Representation and Integration", 
booktitle = "10th ICPR",
YEAR = "1990" )

@book( wells77,
author = "P. N. T. Wells",
title = "Biomedical Ultrasonics",
publisher = "London: Academic Press",
year = "1977")

@ARTICLE( wells89,
AUTHOR = "W. Wells",
TITLE = "Visual Estimation of 3-{D} Line Segments from Motion--A Mobile Robot Vision System",
JOURNAL = ieeetra,
VOLUME = "5",
NUMBER = "6",
MONTH = "December",
YEAR = "1989" )
		  
@article( wells93,
author = "P. N. T. Wells",
title = "The Present Status of Ultrasonic Imaging in Medicine",
journal = "Ultrasonics",
volume = "31",
number = "5",
pages = "345-352",
year = "1993")

@inproceedings( wen92,
 author = "W. Wen and H. F. Durrant-Whyte",
title = "Model-based Multi-sensor Data Fusion",
booktitle = ieeeicra,
address = "Nice,
 France",
month = "May",
pages = "1720-1726",
year = "1992")

@incollection( werby90,
author = "M. F. Werby",
title = "Strategies for the solution of scattering from an object in a
waveguide: some numerical examples",
booktitle = "Computational Acoustics",
volume = "2",
publisher = "Amsterdam: North-Holland",
pages = "93-112",
year = "1990")

%% The End


@INPROCEEDINGS( whitcomb96,
AUTHOR = "L. L. Whitcomb and D. R. Yoerger",
TITLE = "Preliminary Experiments in the Model-Based Control of Marine
Thrusters",
BOOKTITLE = ieeeicra,
MONTH = "April",
pages = "2166-2173",
YEAR = "1996")



@article( whitmarsh93,
author = "R. B. Whitmarsh and L. M. Pinheiro and P. R. Miles and
		  M. Recq and J. C. Sibuet",
title = "Thin crust at the western {I}beria ocean-continent transition
		  and ophiolites",
journal = "Tectonics",
volume = 12,
pages = "1230-1239",
year = 1993)



@book( wilks95,
author = "D. S. Wilks",
title = "Statistical Methods in the Atmospheric Sciences",
publisher = "San Diego, CA: Academic Press",
year = "1995")



@inproceedings( willcox96,
author = "J. S. Willcox and Y. Zhang and J. G. Bellingham and J. Marshall",
title = "{AUV} Survey Design Applied to Oceanic Deep Convection",
booktitle = "IEEE Oceans",
pages = "949-954",
year = "1996")



@mastersthesis( willcox98,
author = "J. S. Willcox",
title = "Oceanographic Surveys with Autonomous Underwater Vehicles: Performance Metrics and Survey Design",  
school = "Massachusetts Institute of Technology",
year = "1998")



@incollection( williams70,
title = "Normal-mode methods in propagations of underwater sound",
author = "A. O. Williams, Jr.",
booktitle = "Underwater Acoustics",
editor = "R. W. B. Stephens",
publisher = "London: John Wiley and Sons Ltd.",
year = "1970")



@ARTICLE( williamson85,
AUTHOR = "D. Williamson",
TITLE = "Finite Wordlength Design of Digital {K}alman Filters for State Estimation",
JOURNAL = "{IEEE} Transactions on Automatic Control",
VOLUME = "AC-30",
NUMBER = "10",
PAGES = "930-939",
MONTH = "October",
YEAR = "1988" )



@book( willis91,
author = "N. J. Willis",
title = "Bistatic Radar",
publisher = "Boston: Artech House",
year = "1991")



@inproceedings( willner76,
author = "D. Willner and C. B. Chang and K. P. Dunn",
title =  "{K}alman Filter Algorithms for a Multi-Sensor System",
booktitle = "{IEEE} Int. Conference on Decision and Control (CDC)",
pages = "570-574",
year = "1976" )



@book( wilson88,
author = "O. B. Wilson",
title = "Introduction to the Theory and Design of Sonar Transducers",
publisher = "Los Altos, {CA}: Peninsula Publishing",
year = "1988")



@TECHREPORT( winder87,
AUTHOR = "C. P. Winder",
TITLE = "Bouncing Balls on the DisPuter",
INSTITUTION = "Oxford University Computer Laboratory",
MONTH = "October",
YEAR = "1987" ) 



@BOOK( winston84,
AUTHOR = "P. H. Winston",
TITLE = "Artificial Intelligence",
PUBLISHER = "Addison Wesley",
YEAR = "1984" )



@ARTICLE( witkin81,
AUTHOR = "A. P. Witkin",
TITLE = "Recovering Surface Shape and Orientation from Texture",
JOURNAL = "Artificial Intelligence",
VOLUME = "17",
PAGES = "17-45",
YEAR = "1981" )



@book( woodward, 
author = "Woodward, P. M.",
title = "Probability and information theory, with applications to
radar",
note = "2nd Edition",
publisher = "Oxford: Pergamon Press",
year = "1964")

@book( woodward64, 
author = "Woodward, P. M.",
title = "Probability and information theory, with applications to
radar",
note = "2nd Edition",
publisher = "Oxford: Pergamon Press",
year = "1964")



@book( wunsch96,
author = "C. Wunsch",
title = "The Ocean Circulation Inverse Problem",
publisher = "Cambridge University Press",
year = "1996")



@incollection( yagel91,
author = "R. Yagel and D. Cohen and A. Kaufman",
title = "Context Sensitive Normal Estimation for Volume Imaging",
booktitle = "Scientific Visualization of Physical Phenomena",
editor = "N. M. Patrikalakis",
year = "1991",
pages = "211-234")



@Article{yamauchi97,
  author = 	 {B. Yamauchi and P. Langley},
  title = 	 {Place Recognition in Dynamic Environments},
  journal = 	 JRS,
  year = 	 1997,
  volume =	 14,
  number =	 2,
  pages =	 {107--120},
  annote =	 {This uses a certainty grid of given size to map the
		  environment. When moving out of the certainty grid,
		  a new grid is created, centered such that it touches
		  the old one. When revisiting a cite, it measures the
		  corrolation between the old certainty map and a
		  translated and rotated version (to allign them) of
		  the new one. Wichever of the already stored map is
		  closest to new new one observed, is taken to be the
		  current map and localization is performed with
		  respect to this map. The method is "brute force" and
		  simple, but it seems to work on a simple indoor
		  robot. I.e. if some people and objects moves from
		  the time of the generation of the learned map to the
		  new map is achieved, it is more likely that the new
		  map will fit better with the old one before the
		  changes in the room, than for any of the other
		  previously learned maps. He claims between 80 and
		  90\% success.. For dynamic environments we should do
		  better!}
}



@article( yang81,
author = "T. C. Yang and C. W. Votaw",
title = "Under Ice Reflectivities at Frequencies Below 1 k{H}z",
volume = "70",
number = "3",
month = "September",
year = "1981")


@article{ yang97,
  author = 	 {Yang, Ming and Hill, S. L. and Gray, J. O.},
  title = 	 { Localization of plane reflectors using a wide-beamwidth ultrasound transducer arrangement },
  journal = 	 {IEEE Transactions on Instrumentation And Measurement},
  year = 	 {1997},
  volume = 	 {46},
  number = 	 {3},
  month = 	 {June},
  pages = 	 {711-716},
  note = 	 {IEEE}
}


@article( yee66,
author = "K. S. Yee",
title = "Numerical Solution of Initial Boundary Value Problems
Involving Maxwell's Equations in Isotropic Media",
journal = "{IEEE} Trans.\ on Antennas and Propagation",
volume = "AP-14",
month = "May",
pages = "302-307",
year = "1966")

@article( yee92,
author = "K. S. Yee and J. C. Chen and A. H. Chang",
title = "Conformal Finite Difference Time Domain ({FDTD}) with
Overlapping Grids",
journal = "{IEEE} Trans.\ on Antennas and Propagation",
volume = "AP-40",
number = "9",
pages = "1068-1075",
year = "1992")

@article( yoerger85,
author = "D. R. Yoerger and J.-J. E. Slotine",
title = "Robust Trajectory Control of Underwater Vehicles",
journal = ieeejoe,
volume = "OE-10",
number = "4",
month = "October",
year = "1985")


@article( yoerger87,
author = "D. R. Yoerger J.-J. E. Slotine",
title = "Task Resolved Motion Control of Vehicle-Manipulator Systems",
journal = ieeera,
volume = "2",
number = "3",
year = "1987")

@article( yoerger90,
author = "D. R. Yoerger and J. G. Cooke and J.-J. E. Slotine",
title = "The influence of Thruster Dynamics on Underwater Vehicle Behavior and
Their Incorporation Into Control System Design",
journal = ieeejoe,
volume = "15",
number = "3",
month = "July",
year = "1990")

@incollection( yoshikawa90,
author = "T. Yoshikawa and K. Nagai",
title = "Analysis of Multi-fingered Grasping and Manipulation",
crossref = "venkataraman90",
pages = "187--208")

@book( yuh95,
editor = "J. Yuh",
title = "Underwater robotic vehicles",
publisher = "TSI Press",
year = "1995")

@book( yuh96,
editor = "J. Yuh and T. Ura and G. Bekey",
title = "Underwater robots",
publisher = "Dordrecht: Kluwer Academic Publishers",
year = "1996")


@incollection( zanin90,
author = "A. Zanin and V. Markov and I. Sidorova",
title = "The Ability of Bottlenose Dolphins, {{\em Tursiops
truncatus}}, to Report Arbitrary Information",
editor = "J. A. Thomas and R. A. Kastelein",
booktitle = "Sensory Abilities of Cetaceans: Laboratory and Field
Evidence",
publisher = "New York: Plenum Press",
pages = "685-702",
year = "1990")

@inproceedings( zelinsky88,
author = "A. Zelinsky",
title = "Environment Mapping with a Mobile Robot Using Sonar",
booktitle = "Proceedings of the Australian Joint Artificial
Intelligence Conference - AI'88",
pages = "373-388",
city = "Adelaide",
month = "November",
year = "1988" )
		  


@article( zemanek71,
author = "J. Zemanek",
title = "Beam behavior within the near field of a vibrating piston",
journal = jasa,
volume = "49",
pages = "181-191",
year = "1971")

@ARTICLE( zhang85,
AUTHOR = "S. Zhang and C. Chen",
TITLE = "Design of Compensators for Robust Tracking and Disturbance Rejection",
JOURNAL = "{IEEE} Transactions on Automatic Control",
VOLUME = "AC-30",
NUMBER = "7",
MONTH = "July",
YEAR = "1985" )  
		  
@ARTICLE( zhang91,
AUTHOR = "Z. Zhang and O. D. Faugeras",
TITLE = "Three-dimensional Motion Computation and Object Segmentation
in a Long Sequence of Stereo Frames",
JOURNAL = "Int. J. Computer Vision",
YEAR = "(to be published)" )
		  
@book( zhang92,
author = "Z. Zhang",
title = "{3D} Dynamic Scene Analysis: a stereo based approach",
publisher = "Springer-Verlag",
year = "1992")
		  
@article( zhang94,
author = "Z. Zhang",
title = "Iterative point matching for registration of free-form curves
and surfaces",
journal = ijcv,
volume = "13",
number = "2",
pages = "119-152",
year = "1994")
		  


%%%%%%%%%%%% new stuff: %%%%%%%%%%%%%%%%


@article( zorpette94,
author = "G. Zorpette",
title = "Autopilots of the Deep",
journal = "{IEEE} Spectrum",
volume = "31",
number = "8",
pages = "38-44",
month = "August",
year = "1994")

@ARTICLE( zucker85,
AUTHOR = "S. Zucker",
TITLE = "Early orientation selection: tangent fields and the
dimensionality of their support",
JOURNAL = "CVGIP",
VOLUME = "32",
NUMBER = "1",
PAGES = "74-103",
MONTH = "October",
YEAR = "1985" )



@Article{ au95,
  author = 	 {Au, W. W. L. and Pawloski, J. L. and Nachtigall, P. E. and Blonz, M. and Gisner, R. C.},
  title = 	 { Echolocation signals and transmission beam pattern of a false killer whale (Pseudorca crassidens) },
  journal = 	 {Journal of the Acoustical Society of America},
  year = 	 {1995},
  OPTkey = 	 {},
  volume = 	 {98},
  number = 	 {1},
  month = 	 {July},
  OPTpages = 	 {}
}

@Article{ au95b,
  author = 	 {Au, W. W. L. and Andersen, L. N. and Rasmussen, A. R. and Nachtigall, P. E.},
  title = 	 { Neural network modeling of a dolphin's sonar discrimination capabilities },
  journal = 	 {Journal of the Acoustical Society of America},
  year = 	 {1995},
  OPTkey = 	 {},
  volume = 	 {98},
  number = 	 {1},
  month = 	 {July},
  pages = 	 {43-50}
}


@InProceedings{ moore93,
  author = 	 {Moore, P. W. B. and Roitblat, H. L. and Nachtigall, P. E.},
  title = 	 { Recognizing successive dolphin echoes with an integrator gateway network },
  booktitle = 	 {Conference Record of The Twenty-Seventh Asilomar Conference on Signals, Systems and Computers (Cat. No.93CH3312-6).},
  volume = 	 {1},
  OPTnumber = 	 {},
  series = 	 {IEEE Comput. Soc. Press. Part},
  year = 	 {1993},
  address = 	 {Los Alamitos, CA, USA},
  OPTmonth = 	 {},
  pages = 	 {588-592}
}

@InProceedings{ nachtigall94,
  author = 	 {Nachtigall, P. E. and Au, W. W. L. and Pawloski, J. L. and Roitblat, H. L.},
  title = 	 { Animal echolocation and signal processing },
  booktitle = 	 {OCEANS 94. Oceans Engineering for Today's Technology and Tomorrow's Preservation. Proceedings (Cat. No.94CH3472-8)},
  volume = 	 {1},
  OPTnumber = 	 {},
  series = 	 {IEEE. Part},
  year = 	 {1994},
  address = 	 {New York, NY, USA},
  OPTmonth = 	 {},
  pages = 	 {I/259-263},
}

@Article{ au94,
  author = 	 {Au, W. W. L. and Nachtigall, P. E.},
  title = 	 { Dolphin acoustics and echolocation },
  journal = 	 {Acoustics Bulletin},
  year = 	 {1994},
  OPTkey = 	 {},
  volume = 	 {19},
  number = 	 {4},
  month = 	 {July-Aug.},
  pages = 	 {19-26},
  note = 	 {UK.},
}

@InCollection{ au80,
  author = 	 {Au, W. W. L.},
  title = 	 { Echolocation signals of the atlantic bottlenose dolphin in open water },
  booktitle = 	 {Animal Sonar systems},
  publisher = {Plenum Press},
  year = 	 {1980},
  editor = 	 {R. G. Busnel and J. F. Fish Eds.},
  address = 	 {New York: Plenum Press},
  pages = 	 {251-282}
}

@InCollection{ nachtigall80,
  author = 	 {Nachtigall, P. E.},
  title = 	 { Odontocete echolocation performance on object size, shape and material },
  booktitle = 	 {Animal Sonar systems},
  publisher =    {Plenum Press},
  year = 	 {1980},
  editor = 	 {R.G. Busnel and J.F. Fish Eds.},
  address = 	 {New York: Plenum Press},
  pages = 	 {71-95}
}

@InCollection{ penner80,
  author = 	 {Penner, R. H.},
  title = 	 { Attention and detection in dolphin echolocation },
  booktitle = 	 {Animal Sonar systems},
  publisher =    {New York: Plenum Press},
  year = 	 {1980},
  editor = 	 {R.G. Busnel and J.F. Fish Eds.},
  OPTaddress = 	 {New York: Plenum Press},
  pages = 	 {707-713}
}

@InCollection{ wood80,
  author = 	 {Wood, F.G . and Jr. and Evans, W. E.},
  title = 	 { Attention and detection in dolphin echolocation },
  booktitle = 	 {Animal Sonar systems},
  publisher =    {Plenum Press},
  year = 	 {1980},
  editor = 	 {R.G. Busnel and J.F. Fish Eds.},
  address = 	 {New York: Plenum Press},
  pages = 	 {381-425}
}

@Manual{ panametrics99,
  author = 	 {Panametrics Corporation},
  title = 	 { Model 5058Pr instruction manual },
  year = "1999",
}

@misc{ gage99,
 author = 	 {Gage Applied Sciences Corporation},
  title = 	 { Manual of compuscope 1012/PCI A/D board },
  year = "1999",
}


@Book{ pierce81,
  author = 	 {Pierce, Allan D.},
  title = 	 { Acoustics, an introduction to its physical principles and applications },
  publisher = 	 {Mcgraw-hill book company},
  year = 	 {1981}
}

@Misc{[36],
  author = 	 {Bozma, Omur Isik},
  title = 	 { A physical model-based Approach to analysis of environment using sonar },
  OPThowpublished = {},
  year = 	 {1991},
  OPTmonth = 	 {},
  note = 	 {Yale University},
  OPTannote = 	 {}
}

@Article{[37],
  author = 	 {Kuc, R. and Siegel, M. W.},
  title = 	 { Physically based simulation model for acoustic sensor robot navigation },
  journal = 	 {IEEE Transactions on Pattern Analysis And Machine Intelligence},
  year = 	 {1987},
  OPTkey = 	 {},
  volume = 	 {PAMI-9},
  number = 	 {6},
  month = 	 {Nov.},
  pages = 	 {766-778}
}

@Article{ au78,
  author = 	 {Au, W. W. L. and Floyd, R. W. and Haun, J. E.},
  title = 	 { Propagation of Atlantic bottlenose dolphin echolocation signals },
  journal = 	 {Journal of the Acoustical Society of America},
  year = 	 {1978},
  OPTkey = 	 {},
  volume = 	 {64},
  number = 	 {2},
  month = 	 {Aug.},
  pages = 	 {411-422},
  note = 	 {USA}
}

@Article{ au86,
  author = 	 {Au, W. W. L. and Moore,  P. W. B. and Pawloski, D.},
  title = 	 { Echolocation transmitting beam of the Atlantic bottlenose dolphin },
  journal = 	 {Journal of the Acoustical Society of America},
  year = 	 {1986},
  OPTkey = 	 {},
  volume = 	 {80},
  number = 	 {2},
  month = 	 {Aug.},
  pages = 	 {688-691}
}

@Book{[40],
  author = 	 {Urick, R. J.},
  title = 	 { Principles of underwater sound },
  publisher = 	 {McGraw-Hill},
  year = 	 {1983},
  edition = 	 {3rd}
}

@Book{[42],
  author = 	 {Freedman, A.},
  title = 	 { The high frequency echo structure of some simple body shapes },
  publisher = 	 {Acoustica},
  year = 	 {1962}
}

@Book{[43],
  author = 	 {Woodward, P. W.},
  title = 	 { Probability and information theory with applications to radar },
  publisher = 	 {Pergamon Press},
  year = 	 {1964}
}

@Book{[44],
  OPTauthor = 	 {},
  title = 	 { Array signal processing },
  publisher = 	 {Prentice-Hall Inc.},
  year = 	 {1985},
  OPTkey = 	 {},
  editor = 	 {Haykin, Simon}
}

@Article{ rodenas97,
  author = 	 {Rodenas, J. A. and Garello, R.},
  title = 	 { Wavelet analysis in SAR ocean image profiles for internal wave detection and wavelength estimation },
  journal = 	 {IEEE Transactions on Geoscience And Remote sensing},
  year = 	 {1997},
  OPTkey = 	 {},
  volume = 	 {35},
  number = 	 {4},
  month = 	 {July},
  pages = 	 {933-945}
}

@Misc{ zhang98,
  author = 	 {Zhang, Y.},
  title = 	 { Transient Signal Detection with an Automous underwater Vehicle },
  howpublished = {M.I.T.},
  year = 	 {1998},
  month = 	 {Feb.},
  note = 	 {Ph.D thesis proposal}
}

@Article{ frisch92,
  author = 	 {Frisch, M. and Messer, H.},
  title = 	 { The use of the wavelet transform in the detection of an unknown transient signal },
  journal = 	 {IEEE trans. On Information Theory},
  year = 	 {1992},
  OPTkey = 	 {},
  volume = 	 {38},
  number = 	 {2},
  month = 	 {March},
  pages = 	 {892-897}
}

@Article{ au94a,
  author = 	 {Au, W. W. L},
  title = 	 { Comparison of sonar discrimination: Dolphin and an artificial neural network },
  journal = 	 {Journal of the Acoustical Society of America},
  year = 	 {1994},
  OPTkey = 	 {},
  volume = 	 {95},
  number = 	 {1},
  OPTmonth = 	 {},
  pages = 	 {2728-2735}
}

@Article{ roitblat89,
  author = 	 {Roitblat, H. L. and Moore, P. W. B. and Nachtigall, P. E. and Penner, R. H. and Au, W. W. L.},
  title = 	 { Natural echolocation with an artificial neural network },
  journal = 	 {International Journal of Neural Networks - Research And Applications},
  year = 	 {1989},
  OPTkey = 	 {},
  volume = 	 {1},
  number = 	 {4},
  month = 	 {Oct.},
  pages = 	 {239-248},
  note = 	 {UK.}
}

@Article{ gandhi97,
  author = 	 {Gandhi, P. P. and Ramamurti, V.},
  title = 	 { Neural networks for signal detection in non-Gaussian noise },
  journal = 	 {IEEE Transactions on Signal Processing},
  year = 	 {1997},
  OPTkey = 	 {},
  volume = 	 {45},
  number = 	 {11},
  month = 	 {Nov.},
  pages = 	 {2846-2851},
  note = 	 {IEEE.}
}

@Article{ peremans93,
  author = 	 {Peremans, H. and Audenaert, K. and Van, Campenhout J. M.},
  title = 	 { A high-resolution sensor based on tri-aural perception },
  journal = 	 {IEEE Transactions on Robotics And Automation},
  year = 	 {1993},
  OPTkey = 	 {},
  volume = 	 {9},
  number = 	 {1},
  month = 	 {Feb.},
  pages = 	 {36-48},
  note = 	 {USA.}
}

@Misc{ panametrics_web99,
  title = 	 {Http://www.panametrics.com/ndt/}
}

@Misc{[54],
  title = 	 {Http://www.gage-applied.com/}
}


@Misc{[55],
  title = 	 {Http://www.compumotor.com/}
}

@InProceedings{[56],
  author = 	 {Miller, G. L. and Boie, R. A. and Sibilia, M. J.},
  title = 	 { Active damping of ultrasonic transducers for robotic applications },
  booktitle = 	 {International Conference on Robotics.},
  series = 	 {IEEE Comput. Soc. Press.},
  year = 	 {1984},
  address = 	 {Silver Spring, MD, USA.},
  pages = 	 {379-384}
}

