J. M. Thorleifson, T. C. Davies, M. R. Black, D. A. Hopkin, R. I. Verrall, A. Pope, I. Monteith, V. Den Hertog, B. Butler; The Theseus autonomous underwater vehicle--A Canadian success story, Proceedings of MTS/IEEE OCEANS'97 Conference, pp. 1001 - 1006, September 1997.

Bruce Butler; Field trials of the theseus AUV, Proceedings of the Ninth International Symposium on Unmanned Untethered Submersible Technology, vol. 9, pp. 6 - 15, September 1995.

Mervin R. Black, Bruce Butler; Arctic Ocean trials of Trackpoint ultrashort baseline acoustic positioning systems, Proceedings of 1994 Symposium on Autonomous Underwater Vehicle Technology, pp. 297 - 302, July 1994.

Bruce Butler, Vince den Hertog; Theseus: A cable-laying AUV, Proceedings of the Eighth International Symposium on Unmanned Untethered Submersible Technology, vol. 8, pp. 1 - 6, September 1993.

Bruce Butler, Vince den Hertog; Theseus: A cable-laying AUV, Proceedings of IEEE OCEANS'93 Conference, pp. 210 - 213, October 1993.

Phil Hartley, Bruce Butler; AUV fiber optic cable laying - From concept to reality, Proceedings of the Seventh International Symposium on Unmanned Untethered Submersible Technology, vol. 7, pp. 20 - 27, September 1991.

Bruce Butler, Stephen Maryka; Evolution of the dolphin multi-vehicle control system, Proceedings of the Fifth International Symposium on Unmanned Untethered Submersible Technology, vol. 5, pp. 23 - 32, June 1987.

Bruce Butler, Stephen Maryka; Evolution of the DOLPHIN Multi-Vehicle Control System, Proceedings of MTS/IEEE OCEANS'87 Conference, pp. 596 - 600, September 1987.