Supervisory control architecture for underwater teleoperation

Dana R. Yoerger, Jean-Jacques E. Slotine. Supervisory control architecture for underwater teleoperation. In Proceedings of the 1987 IEEE International Conference on Robotics and Automation, Raleigh, North Carolina, USA, March 31 - April 3, 1987. pages 2068-2073, IEEE, 1987. [doi]

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