Experimental analysis and implementation of redundant thrusters for underwater robots. - Aaron M. Hanai; Kaikala H. Rosa; Song K. Choi; Junku Yuh (IROS, 2004)

Experimental validation of model-based thruster fault detection for underwater vehicles. - Aaron M. Hanai; Song K. Choi; Giacomo Marani; Kaikala H. Rosa (ICRA, 2009)