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- RoboBoat 2015 Complete Score Sheet, July 2015
- Real-Time Obstacle Avoidance for Fast Mobile Robots, October 1989
- Constrained Nonlinear Control Allocation With Singularity Avoidance Using Sequential Quadratic Programming, Fossen’s paper (PropaGator 2’s azimuth steering)
- RoboBoat 2014 Complete Score Sheet, July 2014
- LEDDAR Review, January 2014
- Roboboat 2013 Static Score Sheet, July 2013