Le Feng, Christian R. Gutvik, Tor Arne Johansen, Dan Sui. Barrier function nonlinear optimization for optimal Decompression of divers. In Proceedings of the 48th IEEE Conference on Decision and Control, CDC 2009, combined withe the 28th Chinese Control Conference, December 16-18, 2009, Shanghai, China. pages 1800-1805, IEEE, 2009. [doi]