Paul M. Creamer
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E. Michael Geyer, Paul M. Creamer, Joseph A. D'Appolito, Robert G. Rains;
Characteristics and capabilities of navigation systems for unmanned untethered submersibles, Proceedings of the Fifth International Symposium on Unmanned Untethered Submersible Technology, vol. 5,
pp. 320 - 347, June 1987.