M. Hebert, C. E. Thorpe, S. E. Dunn, J. M. Cushieri, P. O. Rushfelt, W. H. Girodet, P. Schweizer; A feasibility study for a long range autonomous underwater vehicle, Proceedings of the Fifth International Symposium on Unmanned Untethered Submersible Technology, vol. 5, pp. 1 - 13, June 1987.

Anthony Stentz, Chuck Thorpe; An architecture for autonomous vehicle navigation, Proceedings of the Fourth International Symposium on Unmanned Untethered Submersible Technology, vol. 4, pp. 272 - 283, June 1985.

Charles E. Thorpe, Larry H. Matthies; Path Relaxation: Path Planning for a Mobile Robot, Proceedings of MTS/IEEE OCEANS'84 Conference, pp. 576 - 581, September 1984.

Larry H. Matthies, Charles E. Thorpe; Experience with Visual Robot Navigation, Proceedings of MTS/IEEE OCEANS'84 Conference, pp. 594 - 597, September 1984.

Charles Thorpe; The CMU rover and the FIDO vision navigation system, Proceedings of the Third International Symposium on Unmanned Untethered Submersible Technology, vol. 3, pp. 103 - 115, June 1983.

Charles Thorpe; Sonar image processing: An application of template matching through relaxation, Proceedings of the Second International Symposium on Unmanned Untethered Submersible Technology, vol. 2, pp. 35 - 52, September 1981.

Charles Thorpe; Carnegie Mellon University, Proceedings of the First International Symposium on Unmanned Untethered Submersible Technology, vol. 1, p. 20, May 1980.