A Pseudospectral optimal motion planner for autonomous unmanned vehicles. - Michael A. Hurni; Pooya Sekhavat; Mark Karpenko; I. Michael Ross (ACC, 2010)

Planning the Minimum Time and Optimal Survey Trajectory for Autonomous Underwater Vehicles in Uncertain Current. - Michael A. Hurni; Kiriakos Kiriakidis (Robotics, 2015)