Navigation and control of the Nereus hybrid underwater vehicle for global ocean science to 10, 903 m depth: Preliminary results. - Louis L. Whitcomb; Michael V. Jakuba; James C. Kinsey; Stephen C. Martin; Sarah E. Webster; Jonathan C. Howland; Chris L. Taylor; Daniel Gomez-Ibanez; Dana R. Yoerger (ICRA, 2010)