Robert Beaton

James G. Bellingham, Thomas R. Consi, Robert M. Beaton, William Hall; Keeping layered control simple, Proceedings of 1990 Symposium on Autonomous Underwater Vehicle Technology, pp. 3 - 8, June 1990.

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.

James G. Bellingham, Robert Beaton, Michael Triantafyllou, Landy Shupe; An Autonomous Submersible Designed for Software Development, Proceedings of MTS/IEEE OCEANS'89 Conference, pp. 799 - 803, September 1989.