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2009
A. Tinka, Diemer, S., Madureira, L., Marques, E. R. B., de Sousa, J. Borges, Martins, R., Pinto, J., J. da Silva, E., Sousa, A., Saint-Pierre, P., and Bayen, A. M., “Viability-based computation of spatially constrained minimum time trajectories for an autonomous underwater vehicle: Implementation and experiments”, in 2009 American Control Conference, 2009.