Archaeology via underwater robots: Mapping and localization within maltese cistern systems. - Christopher M. Clark; Christopher S. Olstad; Keith Buhagiar; Timmy Gambin (ICARCV, 2008)

The Malta cistern mapping project: Underwater robot mapping and localization within ancient tunnel systems. - Cory White; Daniel Hiranandani; Christopher S. Olstad; Keith Buhagiar; Timmy Gambin; Christopher M. Clark (J. Field Robotics, 2010)