Viability-based computation of spatially constrained minimum time trajectories for an autonomous underwater vehicle: Implementation and experiments. - Andrew Tinka; S. Diemer; L. Madureira; Eduardo R. B. Marques; João Borges de Sousa; Ricardo Martins; José Pinto 001; Jorge Estrela da Silva; André Sousa; Patrick Saint-Pierre; Alexandre M. Bayen (ACC, 2009)