@article {bib:Choi:10b,
	title = {Continuous Curvature Path Generation Based on B{\'e}zier Curves for Autonomous Vehicles},
	journal = {IAENG International Journal of Applied Mathematics},
	volume = {40},
	year = {2010},
	publisher = {International Association of Engineers},
	author = {J.-W. Choi and Ren Curry and Gabriel H Elkaim}
}
@conference {bib:Choi:10c,
	title = {Curvature-Continuous Trajectory Generation with Corridor Constraint for Autonomous Ground Vehicles},
	booktitle = {The 49th IEEE Conference on Decision and Control, CDC 2010},
	year = {2010},
	address = {Atlanta, Georgia, USA},
	author = {J.-W. Choi and Ren Curry and Gabriel H Elkaim}
}
@article {9,
	title = {A Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame},
	journal = {IEEE Transactions on Aerospace Electronic Systems},
	year = {2010},
	author = {Jos{\'e} Vasconcelos and Gabriel H Elkaim and Carlos Silvestre and P Oliveira and Bruno Cardeira}
}
@article {bib:Choi:10b,
	title = {Piecewise Bezier Curves Path Planning with Continuous Curvature Constraint for Autonomous Driving},
	journal = {Machine Learning and Systems Engineering, Lecture Notes in Electrical Engineering 68},
	year = {2010},
	publisher = {Springer Science+Business Media B.V},
	author = {J.-W. Choi and Ren Curry and Gabriel H Elkaim}
}
@conference {bib:Choi:10a,
	title = {Real-Time Obstacle Avoiding Path Planning for Mobile Robots},
	booktitle = {Proceedings of the AIAA Guidance, Navigation and Control Conference, AIAA GNC 2010},
	year = {2010},
	address = {Toronto, Ontario, Canada},
	author = {J.-W. Choi and Ren Curry and Gabriel H Elkaim}
}
@conference {bib:Choi:09c,
	title = {Collision Free Real-Time Motion Planning for Omnidirectional Vehicles},
	booktitle = {European Control Conference, ECC 2009},
	year = {2009},
	address = {Budapest, Hungary},
	author = {J.-W. Choi and Ren Curry and Gabriel H Elkaim}
}
@conference {34,
	title = {Improved Orbital Debris Trajectory Estimation Based on Sequential TLE Processing},
	booktitle = {IAC2009},
	year = {2009},
	month = {10/2009},
	publisher = {60th International Astronautical Congress},
	organization = {60th International Astronautical Congress},
	address = {Daejeon, Korea},
	author = {Alana Muldoon and Gabriel H Elkaim and B Wheeden}
}
@conference {35,
	title = {Low Cost Rapidly Reconfigurable UAV Autopilot for Research and Development of Guidance, Navigation and Control Algorithms},
	booktitle = {ASME/IEEE MESA09},
	year = {2009},
	month = {08/2009},
	publisher = {International Conference on Mechatronic and Embedded Systems and Applications},
	organization = {International Conference on Mechatronic and Embedded Systems and Applications},
	address = {San Diego, CA},
	author = {Mariano Lizarraga and Gabriel H Elkaim and Gregory Horn and Ren Curry and V Dobrokhodov and I Kaminer}
}
@conference {bib:Choi:09d,
	title = {Obstacle Avoiding Real-Time Trajectory Generation and Control of Omnidirectional Vehicles},
	booktitle = {Proceedings of the 2009 conference on American Control Conference},
	year = {2009},
	address = {St. Louis, MO, USA},
	isbn = {978-1-4244-4523-3},
	doi = {10.1109/ACC.2009.5160683},
	author = {J.-W. Choi and Ren Curry and Gabriel H Elkaim}
}
@conference {36,
	title = {Simulink Based Hardware-in-the-Loop Simulator for Rapid Prototyping of UAV Control Algorithms},
	booktitle = {AIAA Infotech Conference},
	year = {2009},
	month = {08/2009},
	address = {Seattle, WA},
	author = {Mariano Lizarraga and V Dobrokhodov and Gabriel H Elkaim and Ren Curry and I Kaminer}
}
@conference {bib:Choi:09b,
	title = {Smooth Path Generation Based on B{\'e}zier Curves for Autonomous Vehicles},
	booktitle = {Lecture Notes in Engineering and Computer Science: Proceedings of The World Congress on Engineering and Computer Science 2009, WCECS 2009},
	year = {2009},
	pages = {668{\textendash}673},
	address = {San Francisco, CA, USA},
	author = {J.-W. Choi and Ren Curry and Gabriel H Elkaim}
}
@article {11,
	title = {System Identification based Control of an Unmanned Autonomous Wind-Propelled Catamaran},
	journal = {Control Engineering Practice},
	volume = {17},
	year = {2009},
	month = {01/2009},
	chapter = {158},
	doi = {10.1016/j.conengprac.2008.05.014},
	author = {Gabriel H Elkaim}
}
@conference {37,
	title = {Aerial Photography using a Nokia N95},
	booktitle = {WCECS2008},
	year = {2008},
	note = {Certificate of Merit Award},
	month = {10/2008},
	publisher = {World Congress on Engineering and Computer Science},
	organization = {World Congress on Engineering and Computer Science},
	address = {San Francisco, CA},
	author = {David Ilstrup and Mariano Lizarraga and Gabriel H Elkaim and J Davis}
}
@article {10,
	title = {Airfoil Section Design and Configuration Analysis of a Free-Rotating Wing-Sail for an Autonomous Marine Surface Vehicle},
	journal = {AIAA Journal of Aircraft},
	volume = {45},
	year = {2008},
	month = {11/2008},
	chapter = {1835},
	doi = {10.2514/1.27284},
	author = {Gabriel H Elkaim}
}
@conference {bib:Choi:08b,
	title = {B{\'e}zier Curves for Trajectory Guidance},
	booktitle = {Lecture Notes in Engineering and Computer Science: Proceedings of The World Congress on Engineering and Computer Science 2008, WCECS 2008},
	year = {2008},
	pages = {625{\textendash}630},
	address = {San Francisco, CA, USA},
	author = {J.-W. Choi and Gabriel H Elkaim}
}
@proceedings {43,
	title = {Comparison of Low-Cost GPS/INS Sensors for Autonomous Vehicle Applications},
	year = {2008},
	pages = {285-293},
	address = {Monterey, CA},
	author = {Gabriel H Elkaim and Mariano Lizarraga and L Pedersen}
}
@conference {38,
	title = {Energy Scavenging and Aerodynamic Performance of a Rigid Wing Propulsion System for an Autonomous Surface Vessel},
	booktitle = {ION GNSS 2008},
	year = {2008},
	month = {09/2008},
	publisher = {ION Global Navigation Satellite Systems Conference},
	organization = {ION Global Navigation Satellite Systems Conference},
	address = {Savannah, GA},
	author = {Gabriel H Elkaim and C O Boyce}
}
@article {12,
	title = {Extension of a Non-Linear, Two-Step Calibration Methodology to Include Non-Orthogonal Sensor Axes},
	journal = {IEEE Transactions on Aerospace Electronic Systems},
	volume = {44},
	year = {2008},
	month = {07/2008},
	chapter = {1070},
	author = {Gabriel H Elkaim and Christopher Foster}
}
@conference {44,
	title = {A Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame},
	booktitle = {IFAC Workshop on Navigation, Guidance, and Control of Underwater Vehicles, IFAC NGCUV 2008},
	year = {2008},
	address = {Killaloe, Ireland},
	author = {Jos{\'e} Vasconcelos and Gabriel H Elkaim and Carlos Silvestre and P Oliveira and Bruno Cardeira}
}
@conference {7,
	title = {Improved Orbit Estimation using GPS Measurements for Conjunction Analysis},
	booktitle = {ION Global Navigation Satellite Systems Conference},
	year = {2008},
	month = {09/2008},
	publisher = {Institute of Navigation},
	organization = {Institute of Navigation},
	address = {Savannah, GA},
	author = {Alana Muldoon and Gabriel H Elkaim}
}
@proceedings {41,
	title = {Initial Results from an In-Situ Environmental Monitoring Marine Mammal Tag},
	year = {2008},
	pages = {560-567},
	address = {Monterey, CA},
	author = {Gabriel H Elkaim and Eric Decker and Guy Oliver and Brent Wright}
}
@conference {40,
	title = {Low Cost, Low Power Structured Light Based Obstacle Detection},
	booktitle = {ION/IEEE Position, Location, and Navigation Symposium},
	year = {2008},
	month = {05/2008},
	author = {David Ilstrup and Gabriel H Elkaim}
}
@conference {16,
	title = {MACH-1: Control System Modeling and Design for a Mars Flyer},
	booktitle = {AIAA GNC 2008},
	year = {2008},
	month = {08/2008},
	publisher = {AIAA},
	organization = {AIAA},
	address = {Honolulu, HI},
	abstract = {Mars science missions would benefit from the ability to acquire high resolution images of the Martian surface, as well as sensor coverage from other sensors. A robotic aircraft on Mars has been proposed to carry these instruments. The atmosphere and weak Martian gravity make the plane equivalent to a very high altitude aircraft on the Earth. The MACH-1 challenge is a design contest to model, simulate, and design the control system for this future Mars flyer. The design specifications are used to create a SIMULINK full six degree of freedom model, which is validated with open loop simulations. Trim conditions are used to generate perturbation models for control loop design, and output regulator linear quadratic regulator design is used to generate a gain matrix for straight and level flight. The generated model is unstable, and the control design developed cannot stabilize the non-linear model.},
	author = {Gabriel H Elkaim and J.-W. Choi and Daniel Garalde and Mariano Lizarraga}
}
@article {13,
	title = {MAV Attitude Determination from Observations of Earth{\textquoteright}s Magnetic and Gravity Field Vectors},
	journal = {IEEE Journal of Aerospace Electronic Systems},
	volume = {44},
	year = {2008},
	month = {07/2008},
	chapter = {1012},
	author = {Demoz Gebre-Egziabher and Gabriel H Elkaim}
}
@article {bib:Choi:08a,
	title = {Path Planning Based on B{\'e}zier Curve for Autonomous Ground Vehicles},
	journal = {IAENG Transactions on Electrical and Electronics Engineering Volume I - Special Edition of the World Congress on Engineering and Computer Science 2008},
	year = {2008},
	pages = {158{\textendash}166},
	publisher = {IEEE Computer Society},
	address = {Los Alamitos, CA, USA},
	isbn = {978-0-7695-3555-5},
	doi = {http://doi.ieeecomputersociety.org/10.1109/WCECS.2008.27},
	author = {J.-W. Choi and Ren Curry and Gabriel H Elkaim}
}
@proceedings {45,
	title = {Single Frame Processing for Structured Light Based Obstacle Detection,{\^{\i} ION National Technical Meeting},
	year = {2008},
	pages = {514-520},
	address = {San Diego, CA},
	author = {David Ilstrup and Gabriel H Elkaim}
}
@proceedings {42,
	title = {Spatially Deconflicted Path Generation for Multiple UAVs in a Bounded Airspace},
	year = {2008},
	pages = {633-640},
	address = {Monterey, CA},
	author = {Mariano Lizarraga and Gabriel H Elkaim}
}
@conference {39,
	title = {Trajectory Generation and Control Methodology for an Autonomous Ground Vehicle},
	booktitle = {AIAA GNC 2008},
	year = {2008},
	month = {08/2008},
	publisher = {AIAA Guidance, Navigation and Control Conference},
	organization = {AIAA Guidance, Navigation and Control Conference},
	address = {Honolulu, HI},
	author = {John Connors and Gabriel H Elkaim}
}
@proceedings {50,
	title = {Analysis of a Spline Based, Obstacle Avoiding Path Planning Algorithm},
	year = {2007},
	pages = {2565-2569},
	address = {Dublin, Ireland},
	author = {John Connors and Gabriel H Elkaim}
}
@conference {48,
	title = {Control System Performance of an Unmanned Wind-Propelled Catamaran},
	booktitle = {IFAC Conference on Control Applications in Marine Systems, IFAC CAMS 2007},
	year = {2007},
	address = {Bol, Croatia},
	author = {C O Boyce and Gabriel H Elkaim}
}
@conference {49,
	title = {Experimental Aerodynamic Performance of a Self-Trimming Wing-Sail for Autonomous Surface Vehicles},
	booktitle = {IFAC Conference on Control Applications in Marine Systems, IFAC CAMS 2007},
	year = {2007},
	address = {Bol, Croatia},
	author = {Gabriel H Elkaim and C O Boyce}
}
@proceedings {46,
	title = {Experimental Results for Spline Based Obstacle Avoidance of an Off-Road Ground Vehicle,{\^{\i} ION Global Navigation Satellite Systems Conference, ION GNSS 2007},
	year = {2007},
	pages = {1484-1490},
	address = {Fort Worth, TX},
	author = {John Connors and Gabriel H Elkaim}
}
@proceedings {47,
	title = {Experimental Validation of GPS-Based Control of an Unmanned Wing-Sailed Catamaran},
	year = {2007},
	pages = {1950-1956},
	address = {Fort Worth, TX}
}
@proceedings {51,
	title = {Manipulating B-Spline Based Paths for Obstacle Avoidance in Autonomous Ground Vehicles},
	year = {2007},
	pages = {1081-1088},
	address = {San Diego, CA},
	author = {John Connors and Gabriel H Elkaim}
}
@proceedings {52,
	title = {Sensor Stability of a Low-Cost Attitude Sensor Suitable for Micro Air Vehicles},
	year = {2007},
	pages = {756-770},
	address = {San Diego, CA},
	author = {Gabriel H Elkaim and Christopher Foster}
}
@article {14,
	title = {The Atlantis Project: A GPS-Guided Wing-Sailed Autonomous Catamaran},
	journal = {Journal of the Institute of Navigation},
	volume = {53},
	year = {2006},
	month = {12/2006},
	chapter = {237},
	author = {Gabriel H Elkaim}
}
@article {19,
	title = {Calibration of Strapdown Magnetometers in the Magnetic Field Domain},
	journal = {ASCE Journal of Aerospace Engineering},
	volume = {19},
	year = {2006},
	month = {04/2006},
	chapter = {1},
	abstract = {This paper presents an algorithm for calibrating strapdown magnetometers in the magnetic field domain. In contrast to the traditional method of compass swinging, which computes a series of heading correction parameters and thus is limited to use with two-axis systems, this algorithm estimates magnetometer output errors directly. Therefore, this new algorithm can be used to calibrate a full three-axis magnetometer triad. The calibration algorithm uses an iterated, batch least-squares estimator that is initialized using a two-step nonlinear estimator. The algorithm is simulated to validate convergence characteristics and further validated on experimental data collected using a magnetometer triad. It is shown that the postcalibration residuals are small and result in a system with heading errors on the order of 1 to 2 degrees.},
	doi = {10.1061/(ASCE)0893-1321(2006)19:2(87)},
	author = {Demoz Gebre-Egziabher and Gabriel H Elkaim}
}
@conference {57,
	title = {Control Architecture for Segmented Trajectory Following of a Wind-Propelled Autonomous Catamaran},
	booktitle = {Proceedings of the AIAA Guidance, Navigation, and Control Conference, AIAA GNC 2006},
	year = {2006},
	address = {Keystone, CO},
	author = {Gabriel H Elkaim and R Kelbley}
}
@proceedings {61,
	title = {Development of a Marine Mammal Marker (MAMMARK) for In-Situ Environmental Monitoring},
	year = {2006},
	pages = {206-216},
	address = {Monterey, CA},
	author = {Gabriel H Elkaim and Eric Decker and Guy Oliver and Brent Wright}
}
@proceedings {56,
	title = {Development of the Metasensor: A Low-Cost Attitude Heading Reference System for use in Autonomous Vehicles},
	year = {2006},
	pages = {1124-1135},
	address = {Fort Worth, TX},
	author = {Gabriel H Elkaim and Christopher Foster}
}
@proceedings {54,
	title = {Direct Measurement Based H-infinity Controller Synthesis for an Autonomous Surface Vehicle},
	year = {2006},
	note = {Best Presentation Award},
	pages = {1973-1982},
	address = {Fort Worth, TX},
	author = {Gabriel H Elkaim and R Kelbley}
}
@article {18,
	title = {Go Deep: Marine Mammal Marker for At-Sea Monitoring},
	journal = {GPS World},
	volume = {18},
	year = {2006},
	month = {08/2006},
	type = {Cover Story},
	chapter = {30},
	author = {Gabriel H Elkaim and Eric Decker and Guy Oliver and Brent Wright}
}
@conference {60,
	title = {A Lightweight Formation Control Methodology for a Swarm of Non-Holonomic Vehicles},
	booktitle = {IEEE Aerospace Conference},
	year = {2006},
	address = {Big Sky, MT},
	author = {Gabriel H Elkaim and R Kelbley}
}
@proceedings {59,
	title = {Marine Mammal Marker (MAMMARK) Dead Reckoning Sensor for In-Situ Environmental Monitoring},
	year = {2006},
	pages = {976-987},
	address = {San Diego, CA},
	author = {Gabriel H Elkaim and Eric Decker and Guy Oliver and Brent Wright}
}
@proceedings {58,
	title = {Model Free Subspace H-infinity Control for an Autonomous Catamaran},
	year = {2006},
	pages = {1005-1013},
	address = {San Diego, CA},
	author = {Gabriel H Elkaim and B Woodley and R Kelbley}
}
@proceedings {55,
	title = {The Overbot: An Off-Road Autonomous Ground Vehicle Testbed},
	year = {2006},
	pages = {1449-1456},
	address = {Fort Worth, TX},
	author = {Gabriel H Elkaim and John Connors and J Nagel}
}
@proceedings {53,
	title = {Station Keeping and Segmented Trajectory Control of a Wind-Propelled Autonomous Catamaran},
	year = {2006},
	pages = {2424-2429},
	address = {San Diego, CA},
	author = {Gabriel H Elkaim and R Kelbley}
}
@conference {62,
	title = {Extension of a Lightweight Formation Control Methodology to Groups of Autonomous Vehicles},
	booktitle = {8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, iSAIRAS 2005},
	year = {2005},
	address = {Munich, Germany},
	author = {Gabriel H Elkaim and R Kelbley}
}
@conference {63,
	title = {A Lightweight Control Methodology for Formation Control of Vehicle Swarms},
	booktitle = {16th IFAC World Congress, IFAC 2005},
	year = {2005},
	address = {Prague, Czech Republic},
	author = {Gabriel H Elkaim}
}
@article {21,
	title = {An Autonomous Wing-Sailed Catamaran},
	journal = {CATALYST: Journal of the Amateur Yacht Research Society},
	volume = {16},
	year = {2004},
	month = {04/2004},
	chapter = {21},
	author = {Gabriel H Elkaim}
}
@article {20,
	title = {An Autonomous Wing-Sailed Catamaran, Part II: Wingsail Construction},
	journal = {CATALYST: Journal of the Amateur Yacht Research Society},
	volume = {17},
	year = {2004},
	month = {07/2004},
	chapter = {28},
	author = {Gabriel H Elkaim}
}
@inbook {23,
	title = {Global Navigation Satellite System},
	booktitle = {Encyclopedia of Space Science and Technology},
	year = {2003},
	publisher = {Wiley and Sons},
	organization = {Wiley and Sons},
	chapter = {730-759},
	author = {B W Parkinson and J J Spilker and Gabriel H Elkaim}
}
