An experimental setup for autonomous operation of surface vessels in rough seas. - Farshad Mahini; Leonard Diwilliams; Kevin Burke; Hashem Ashrafiuon (Robotica, 2013)

Full state sliding mode trajectory tracking control for general planar vessel models. - Hashem Ashrafiuon; Sergey G. Nersesov; Farshad Mahini; Garrett M. Clayton (ACC, 2015)