Eric Wallar
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John Loch, Eric Wallar, James G. Bellingham, Robert Beaton, Michael Triantafyllou;
Software development for the autonomous submersible program at MIT sea grant and draper laboratory, Proceedings of the Sixth International Symposium on Unmanned Untethered Submersible Technology, vol. 6,
pp. 25 - 32, June 1989.