Gerald Brantner, Oussama Khatib. Controlling Ocean One. In Marco Hutter, Roland Siegwart, editors, Field and Service Robotics, Results of the 11th International Conference, FSR 2017, Zurich, Switzerland, 12-15 September 2017. Volume 5 of Springer Proceedings in Advanced Robotics, pages 3-17, Springer, 2017. [doi]