Two novel approaches for unmanned underwater vehicle path planning: constrained optimisation and semi-infinite constrained optimisation. - Yongji Wang; David M. Lane; Gavin J. Falconer (Robotica, 2000)

Interoperability and Synchronisation of Distributed Hardware in the Loop Simulation for Underwater Robot Development: Issues and Experiments. - David M. Lane; Gavin J. Falconer; Geoph Randall; Ian Edwards (ICRA, 2001)