Sliding-Mode Tracking Control of Surface Vessels. - Hashem Ashrafiuon; Kenneth R. Muske; Lucas C. McNinch; Reza A. Soltan (IEEE Trans. Ind. Electron., 2008)

State-dependent trajectory planning and tracking control of unmanned surface vessels. - Reza A. Soltan; Hashem Ashrafiuon; Kenneth R. Muske (ACC, 2009)

Application of a coordinated trajectory planning and real-time obstacle avoidance algorithm. - Lucas C. McNinch; Reza A. Soltan; Kenneth R. Muske; Hashem Ashrafiuon; James C. Peyton Jones (ACC, 2010)

ODE-based obstacle avoidance and trajectory planning for unmanned surface vessels. - Reza A. Soltan; Hashem Ashrafiuon; Kenneth R. Muske (Robotica, 2011)