Bio


Professor Rock's research interests include the application of advanced control and modeling techniques for robotic and vehicle systems (aerospace and underwater). He directs the Aerospace Robotics Laboratory in which students are involved in experimental programs designed to extend the state-of-the-art in robotic control. Areas of emphasis include planning and navigation techniques (GPS and vision-based) for autonomous vehicles; aerodynamic modeling and control for aggressive flight systems; underwater remotely-operated vehicle control; precision end-point control of manipulators in the presence of flexibility and uncertainty; and cooperative control of multiple manipulators and multiple robots. Professor Rock teaches several courses in dynamics and control.

Academic Appointments


  • Professor, Aeronautics and Astronautics
  • Member, Bio-X

Professional Education


  • PhD, Stanford University (1978)

Stanford Advisees


  • Doctoral Dissertation Reader (AC)
    Tushar Goel, Tommaso Guffanti, Corinne Lippe, Nathan Stacey, Paul Urbanczyk
  • Doctoral Dissertation Advisor (AC)
    Ashley Clark, Aditya Mahajan, Andrew Smith, David Stonestrom, Adam Wiktor, Molly Zhang
  • Master's Program Advisor
    Lisen Deng, Martin Freeman, Tristan Hasseler, Timmy Hussain, Max Joyner, Frank Lai, Janique Lee, Sheng Li, Shane Lowe, Valerie Pietrasz
  • Doctoral (Program)
    Andrew Smith

All Publications


  • Mesobot: An Autonomous Underwater Vehicle for Tracking and Sampling Midwater Targets Yoerger, D. R., Curran, M., Fujii, J., German, C. R., Gomez-Ibanez, D., Govindarajan, A. F., Howland, J. C., Llopiz, J. K., Wiebe, P. H., Hobson, B. W., Katija, K., Risi, M., Robison, B. H., Wilkinson, C. J., Rock, S. M., Breier, J. A., IEEE IEEE. 2018
  • Iceberg Wall Following and Obstacle Avoidance by an AUV McEwen, R. S., Rock, S. P., Hobson, B., IEEE IEEE. 2018
  • Online attitude determination of a passively magnetically stabilized spacecraft ACTA ASTRONAUTICA Burton, R., Rock, S., Springmann, J., Cutler, J. 2017; 133: 269-281
  • Mapping of Translating, Rotating Icebergs With an Autonomous Underwater Vehicle IEEE JOURNAL OF OCEANIC ENGINEERING Kimball, P. W., Rock, S. M. 2015; 40 (1): 196-208
  • Dual attitude and parameter estimation of passively magnetically stabilized nano satellites Acta Astronautica Burton, R., Rock, S., M., Springmann, J., Cutler, J. 2014; 94 (1): 145 - 158
  • Correlation of Sidescan Sonar Acoustic Shadows and Bathymetry for Terrain-Relative Navigation Unmanned Untethered Submersible Technology Padial, J., Dektor, S., G., Rock, S., M. 2013
  • Guidance Augmentation for Reducing Uncertainty in Vision-Based Hazard Mapping during Lunar Landing IEEE Aerospace, IEEE Crane, E., S., Rock, S., M. 2013
  • A Robust Framework for Failure Detection and Recovery for Terrain-Relative Navigation Unmanned Untethered Submersible Technology Houts, S., E., Dektor, S., G., Rock, S., M. 2013
  • Online Attitude Determination of a Passively Magnetically Stabilized Spacecraft Burton, R., Rock, S., M., Springmann, J., Cutler, J. 2013
  • Improving Robustness of Terrain-Relative Navigation for AUVs in Regions with Flat Terrain IEEE/OES Autonomous Underwater Vehicles Conference (AUV) Dektor, S., Rock, S. IEEE. 2012
  • Influence of Trajectory on Accuracy of Hazard Estimation During Lunar Landing Crane, E., S., Rock, S., M. 2012
  • Dual Attitude and Parameter Estimation of Passively Magnetically Stabilized Spacecraft Burton, R., Rock, S., M., Springmann, J., Cutler, J. 2012
  • Tumbling Target Reconstruction and Pose Estimation through Fusion of Monocular Vision and Sparse-Pattern Range Data IEEE MFI Padial, J., Hammond, M., Augenstein, S., Rock, S., M. 2012
  • A NEW METHOD FOR SIMULATING THE ATTITUDE DYNAMICS OF PASSIVELY MAGNETICALLY STABILIZED SPACECRAFT 22nd AAS/AIAA Space Flight Mechanics Meeting Burton, R., Starek, J., Rock, S. UNIVELT INC. 2012: 967–980
  • Aggressive Terrain Following for Motion-constrained AUVs IEEE/OES Autonomous Underwater Vehicles Conference (AUV) Houts, S. E., Rock, S. M., McEwen, R. IEEE. 2012
  • Sonar-based iceberg-relative navigation for autonomous underwater vehicles DEEP-SEA RESEARCH PART II-TOPICAL STUDIES IN OCEANOGRAPHY Kimball, P., Rock, S. 2011; 58 (11-12): 1301-1310
  • Hybrid Estimation Using Perceptional Information: Robotic Tracking of Deep Ocean Animals IEEE JOURNAL OF OCEANIC ENGINEERING Plotnik, A., Rock, S. 2011; 36 (2): 298-315
  • Improved Frame-to-Frame Pose Tracking during Vision-Only SLAM/SFM with a Tumbling Target IEEE International Conference on Robotics and Automation (ICRA) Augenstein, S., Rock, S. M. IEEE. 2011
  • OPTIMAL DESPIN OF A TUMBLING SATELLITE WITH AN ARBITRARY THRUSTER CONFIGURATION, INERTIA MATRIX, AND COST FUNCTIONAL 20th AAS/AIAA Spaceflight Mechanics Meeting Sheinfeld, D., Rock, S. UNIVELT INC. 2010: 637–647
  • Estimation of Iceberg Motion for Mapping by AUVs Kimball, P., Rock, S., M. 2010
  • Closed-Loop Terrain Relative Navigation for AUVs with Non-Inertial Grade Navigation Sensors Meduna, D., Rock, S., M., McEwen, R. 2010
  • Development of a Programmable Rotational Motion Laboratory Demonstrator Russell, S., P., Rock, S., M. 2010
  • Spline-based Trajectory Planning Techniques for Benthic AUV Operations Murthy, K., Rock, S., M. 2010
  • Feedback Dual Controller Design and Its Application to Monocular Vision-Based Docking AIAA Guidance, Navigation, and Control Conference Kim, J., Rock, S. AMER INST AERONAUT ASTRONAUT. 2009: 1134–42

    View details for DOI 10.2514/1.41957

    View details for Web of Science ID 000268118300008

  • RIGID BODY INERTIA ESTIMATION WITH APPLICATIONS TO THE CAPTURE OF A TUMBLING SATELLITE AAS/AIAA 19th Space Flight Mechanics Meeting Sheinfeld, D., Rock, S. UNIVELT INC. 2009: 343–356
  • Performing Visual Surveys of Non-Planar Benthic Terrain Murthy, K., Rock, S., M. 2009
  • Particle Filtering Range Data for Pose Estimation under Torque-Free Motion Russell, S., P., Rock, S., M. 2009
  • AUV/ROV Pose and Shape Estimation of Tethered Targets without Fiducials Augenstein, S., Rock, S., M. 2009
  • Sonar-Based Iceberg-Relative AUV Localization UUST: Unmanned Untethered Submersible Technology Kimball, P., Rock, S., M. 2009
  • Simultaneous Estimation of Target Pose and 3-D Shape using the FastSLAM Algorithm Augenstein, S., Rock, S., M. 2009
  • Navigation for Performing Visual Surveys of Non-Planar Surfaces Murthy, K., Rock, S., M. 2009
  • AUV Terrain Relative Navigation Using Coarse Maps Meduna, D., Rock, S., M., McEwen, R. 2009
  • Control of a climbing robot using real-time convex optimization 4th IFAC Symposium on Mechatronic Systems Miller, T. G., Rock, S. PERGAMON-ELSEVIER SCIENCE LTD. 2008: 301–13
  • Low-Cost Terrain Relative Navigation for Long-Range AUVs OCEANS 2008 Conference Meduna, D. K., Rock, S. M., McEwen, R. IEEE. 2008: 1643–1649
  • Estimating Inertial Position and Current in the Midwater OCEANS 2008 Conference Augenstein, S., Rock, S. IEEE. 2008: 1738–1743
  • Sonar-Based Iceberg-Relative AUV Navigation IEEE/OES Autonomous Underwater Vehicles Conference (AUV 2008) Kimball, P., Rock, S. IEEE. 2008: 20–25
  • Automatic ROV positioning services tethered ocean moorings - ROV is hovered automatically with respect to moving moored platform, while single pilot performs servicing tasks SEA TECHNOLOGY Plotnik, A. M., Rock, S. M. 2007; 48 (4): 50-54
  • An operational real-time large-scale visual mosaicking and navigation system - Precision benthic positioning and mapping without transponders SEA TECHNOLOGY Richmond, K., Rock, S. 2007; 48 (3): 10-13
  • Improved estimation of target velocity using multiple model estimation and a dynamic Bayesian network for a robotic tracker of ocean animals 12th International Symposium on Robotics Research (ISRR) Plotnik, A., Rock, S. SPRINGER-VERLAG BERLIN. 2007: 402–415
  • Real-Time Visual Mosaicking and Navigation of the USS Macon Richmond, K., Rock, S., M. 2007
  • Design and validation of a robotic control law for observation of deep-ocean jellyfish IEEE TRANSACTIONS ON ROBOTICS Rife, J. H., Rock, S. M. 2006; 22 (2): 282-291
  • Visual servoing of an ROV for servicing of tethered ocean moorings Oceans 2006 Conference Plotnik, A. M., Rock, S. M. IEEE. 2006: 1451–1456
  • Stochastic Feedback Controller Design Considering the Dual Effect Kim, J., Rock, S., M. 2006
  • An operational real-time large-scale visual mosaicking and navigation system Oceans 2006 Conference Richmond, K., Rock, S. M. IEEE. 2006: 1245–1250
  • Free-climbing with a multi-use robot 9th International Symposium on Experimental Robotics (ISER) Bretl, T., Rock, S., Latombe, J. C., Kennedy, B., Aghazarian, H. SPRINGER-VERLAG BERLIN. 2006: 449–458
  • Toward autonomous free-climbing robots 11th International Symposium on Robotics Research Bretl, T., Latombe, J. C., Rock, S. SPRINGER-VERLAG BERLIN. 2005: 6–15
  • Passive GPS-Free navigation for small UAVs 2005 IEEE Aerospace Conference Langelaan, J., Rock, S. IEEE. 2005: 3011–3019
  • A Real-Time Visual Mosaicking and Navigation System Richmond, K., Rock, S., M. 2005
  • A Multi-Sensor Approach to Automatic Tracking of Midwater Targets by an ROV Plotnik, A., M., Rock, S., M. 2005
  • Relative Position Sensing and Automatic Control for Observation in the Midwater by an Underwater Vehicle Plotnik, A., M., Rock, S., M. 2005
  • Multi-step motion planning for free-climbing robots 6th International Workshop on Algorithmic Foundations of Robotics Bretl, T., Lall, S., Latombe, J. C., Rock, S. SPRINGER-VERLAG BERLIN. 2005: 59–74
  • Autonomous Deployment of a Self-Calibrating Pseudolite Array for Mars Rover Navigation Matsuoka, M., Rock, S., M., Bualat, M., G. 2004
  • Autonomous deployment of a self-calibrating pseudolite array for Mars rover navigation IEEE Position Location and Navigation Symposium Matsuoka, M., Rock, S. M., Bualat, M. G. IEEE. 2004: 733–739
  • Segmentation methods for visual tracking of deep-ocean jellyfish using a conventional camera IEEE JOURNAL OF OCEANIC ENGINEERING Rife, J., Rock, S. M. 2003; 28 (4): 595-608
  • Mars navigation system utilizes GPS IEEE AEROSPACE AND ELECTRONIC SYSTEMS MAGAZINE LeMaster, E. A., Matsuoka, M., Rock, S. M. 2003; 18 (4): 3-8
  • A local-area GPS pseudolite-based navigation system for Mars rovers 10th International Conference on Advanced Robotics LeMaster, E. A., Rock, S. M. SPRINGER. 2003: 209–24
  • Motion planning for a three-limbed climbing robot in vertical natural terrain 20th IEEE International Conference on Robotics and Automation (ICRA) Bretl, T., Rock, S., Latombe, J. C. IEEE. 2003: 2946–2953
  • An integrated system for command and control of cooperative robotic systems 11th International Conference on Advanced Robotics (ICAR 2003) Clark, C. M., Frew, E. W., Jones, H. L., Rock, S. M. UNIV COIMBRA, FAC CIENCIAS & TECHNOL. 2003: 459–464
  • Trajectory generation for constant velocity target motion estimation using monocular vision 20th IEEE International Conference on Robotics and Automation (ICRA) Frew, E. W., Rock, S. M. IEEE. 2003: 3479–3484
  • Relative position sensing by fusing monocular vision and inertial rate sensors 11th International Conference on Advanced Robotics (ICAR 2003) Huster, A., Rock, S. M. UNIV COIMBRA, FAC CIENCIAS & TECHNOL. 2003: 1562–1567
  • Motion planning for multiple mobile robots using dynamic networks 20th IEEE International Conference on Robotics and Automation (ICRA) Clark, C. M., Rock, S. M., Latombe, J. C. IEEE. 2003: 4222–4227
  • Improving Performance of a Jelly-Tracking Underwater Vehicle Using Recognition of Animal Motion Modes Plotnik, A., M., Rock, S., M. 2003
  • Dynamic Robot Networks for Motion Planning in Multi-Robot Space Systems Clark, C., M., Rock, S., M., Latombe, J., C. 2003
  • An Integrated System for Command and Control of Cooperative Robotic Systems Clark, C., M., Frew, E., W., Jones, H., L., Rock, S., M. 2003
  • Relative Position Sensing by Fusing Monocular Vision and Inertial Rate Sensors Huster, A., Rock, S., M. 2003
  • Trajectory Generation for Monocular-Vision Based Tracking of a Constant-Velocity Target Frew, E., W., Rock, S., M. 2003
  • Climbing Robots in Natural Terrain Bretl, T., Miller, T., Rock, S., M., Latombe, J., C. 2003
  • Automatic Determination of Vision Lock on the Seafloor in the Presence of Dust Richmond, K., Black-Schaffer, D., Rock, S., M. 2003
  • Motion Planning for Multiple Mobile Robots using Dynamic Networks Clark, C., M., Rock, S., M., Latombe, J., C. 2003
  • Gradient-based parameter optimization for systems containing discrete-valued functions INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL Wilson, E., Rock, S. M. 2002; 12 (11): 1009-1028

    View details for DOI 10.1002/rnc.729

    View details for Web of Science ID 000178244600004

  • Randomized kinodynamic motion planning with moving obstacles INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Hsu, D., Kindel, R., Latombe, J. C., Rock, S. 2002; 21 (3): 233-255
  • Dialogue-based human-robot interaction for space construction teams IEEE Aerospace Conference Jones, H., Rock, S. IEEE. 2002: 3645–3653
  • Field experiments in the control of a jellyfish tracking ROV MTS/IEEE Oceans 2002 Conference Rife, J., Rock, S. M. IEEE. 2002: 2031–2038
  • Applying kinodynamic randomized motion planning with a dynamic priority system to multi-robot space systems IEEE Aerospace Conference Clark, C. M., Bretl, T., Rock, S. IEEE. 2002: 3621–3631
  • Relative position estimation for AUVs by fusing bearing and inertial rate sensor measurements MTS/IEEE Oceans 2002 Conference Huster, A., Frew, E. W., Rock, S. M. IEEE. 2002: 1863–1870
  • Kinematic path-planning for formations of mobile robots with a nonholonomic constraint IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2002) Barfoot, T. D., Clark, C. M., Rock, S. M., D'Eleuterio, G. M. IEEE. 2002: 2819–2824
  • Field demonstration of a mars navigation system utilizing GPS pseudolite transceivers IEEE Position Location and Navigation Symposium LeMaster, E. A., Matsuoka, M., Rock, S. M. IEEE. 2002: 150–155
  • Exploratory motion generation for monocular vision-based target localization IEEE Aerospace Conference Frew, E. W., Rock, S. IEEE. 2002: 3633–3643
  • Applying Kinodynamic Randomized Motion Planning with a Dynamic Priority System to Multi-Robot Space Systems Clark, C., M., Bretl, T., Rock, S., M. 2002
  • Kinematic Path-planning for Formations of Mobile Robots with a Nonholonomic Constraint Barfoot, T., D., Clark, C., M., Rock, S., M., D'Eleuterio, G., M. T. 2002
  • Field Demonstration of a Mars Navigation System Utilizing GPS Pseudolite Transceivers LeMaster, E., A., Matsuoka, M., Rock, S., M. 2002
  • Planning Robust Dynamic Transitions for Enhanced Mobility of Planetary Rovers Bretl, T., C., Rock, S., M. 2002
  • An Improved Solution Algorithm for Self-Calibrating Pseudolite Arrays LeMaster, E., A., Rock, S., M. 2002
  • Robust Execution of Aggressive Maneuvers for Planetary Robotics Bretl, T., C., Rock, S., M. 2002
  • Exploratory Motion Generation for Monocular Vision-Based Target Localization Frew, E., W., Rock, S., M. 2002
  • 3-D Capabilities for GPS Transceiver Arrays Matsuoka, M., LeMaster, E., A., Rock, S., M. 2002
  • Field Experiments in the Control of a Jellyfish Tracking ROV Rife, J., Rock, S., M. 2002
  • Autonomous Robots in SWAT Applications: Research, Design, and Operations Challenges Jones, H., L., Rock, S., M., Burns, D., Morris, S. 2002
  • Relative Position Estimation for AUVs by Fusing Bearing and Inertial Rate Sensor Measurements Huster, A., Frew, E., W., Rock, S., M. 2002
  • Quantification of cyclic motion of marine animals from computer vision MTS/IEEE Oceans 2002 Conference Plotnik, A. M., Rock, S. M. IEEE. 2002: 1575–1581
  • Nonlinear flight control using forebody tangential blowing JOURNAL OF GUIDANCE CONTROL AND DYNAMICS Takahara, Y., Rock, S. M. 2001; 24 (6): 1157-1166
  • Randomized kinodynamic motion planning with moving obstacles 4th International Workshop on the Algorithmic Foundations of Robotics (WAFR) Hsu, D., Kindel, R., Latombe, J. C., Rock, S. A K PETERS, LTD. 2001: 247–264
  • Visual tracking of jellyfish in situ International Conference on Image Processing (ICIP 2001) Rife, J., Rock, S. M. IEEE. 2001: 289–292
  • A pilot-aid for ROV based tracking of gelatinous animals in the midwater Annual Conference of the Marine-Technology-Society Rife, J., Rock, S. M. MARINE TECHNOLOGY SOC. 2001: 1137–1144
  • Relative position estimation for manipulation tasks by fusing vision and inertial measurements Annual Conference of the Marine-Technology-Society Huster, A., Rock, S. M. MARINE TECHNOLOGY SOC. 2001: 1025–1031
  • A Low Energy Sensor for AUV-Based Jellyfish Tracking Rife, J., Rock, S., M. 2001
  • A Local-Area GPS Pseudolite-Based Mars Navigation System LeMaster, E., A., Rock, S., M. 2001
  • A Pilot-Aid for ROV Based Tracking of Gelatinous Animals in the Midwater Rife, J., Rock, S., M. 2001
  • Visual Tracking of Jellyfish In Situ Rife, J., Rock, S., M. 2001
  • Relative Position Estimation for Intervention-Capable AUVs by Fusing Vision and Inertial Measurements Huster, A., Rock, S., M. 2001
  • Randomized Motion Planning for Groups of Nonholonomic Robots Clark, C., M., Rock, S., M. 2001
  • Relative Position Estimation for Manipulation Tasks by Fusing Vision and Inertial Measurements Huster, A., Rock, S., M. 2001
  • Kinodynamic Motion Planning Amidst Moving Obstacles Kindel, R., Hsu, D., Latombe, J., C., Rock, S., M. 2000
  • Field Test Results for a Self-Calibrating Pseudolite Array LeMaster, E., A., Rock, S., M. 2000
  • Aileron effectiveness at high angles of attack: Interaction with forebody blowing AIAA Atmospheric Flight Mechanics Conference Pedreiro, N., Takahara, Y., Rock, S. M. AMER INST AERONAUT ASTRONAUT. 1999: 981–86
  • GPS Pseudolite Transceivers and their Applications Stone, J., M., LeMaster, E., A., Powell, D., J., Rock, S., M. 1999
  • Self-Calibration of Pseudolite Arrays Using Self-Differencing Transceivers LeMaster, E., A., Rock, S., M. 1999
  • Cooperative research in underwater robot mission-level programming methodologies INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE Coste-Maniere, E., Wang, H. H., Rock, S. M., Rigaud, V., Peuch, A., Perrier, M. 1998; 29 (10): 1099-1110
  • Development and experimental validation of an underwater manipulator hydrodynamic model INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH McLain, T. W., Rock, S. M. 1998; 17 (7): 748-759
  • Roll-yaw control at high angle of attack by forebody tangential blowing JOURNAL OF AIRCRAFT Pedreiro, N., Rock, S. M., Celik, Z. Z., Roberts, L. 1998; 35 (1): 69-77
  • Human-robot interaction for field operation of an autonomous helicopter Conference on Mobile Robots XIII and Intelligent Transportation Systems Jones, H. L., Frew, E. W., Woodley, B. R., Rock, S. M. SPIE-INT SOC OPTICAL ENGINEERING. 1998: 244–251
  • Combined CDGPS and vision-based control of a small autonomous helicopter American Control Conference Rock, S. M., Frew, E. W., Jones, H., LeMaster, E. A., Woodley, B. R. IEEE. 1998: 694–698
  • Human-Robot Interaction for Field Operation of an Autonomous Helicopter Mobile Robots XIII and Intelligent Transportation Systems Jones, H., L., Frew, E., W., Woodley, B., R., Rock, S., M. 1998; 3525: 244-252
  • Combined CDGPS and Vision-Based Control of a Small Autonomous Helicopter Rock, S., M., Frew, E., Jones, H., Woodley, B., R., LeMaster, E., A. 1998
  • Model Development of an Underwater Manipulator for Coordinated Arm-Vehicle Control Leabourne, K., N., Rock, S., M. 1998
  • Experimental Validation of a Real-Time Vision Sensor and Navigation System for Intelligent Underwater Vehicles Fleischer, S., D., Rock, S., M. 1998
  • Demonstration of a Vision-Based Dead-Reckoning System for Navigation of an Underwater Vehicle Huster, A., Fleischer, S., D., Rock, S., M. 1998
  • A Contestant in the 1997 International Aerial Robotics Competition Woodley, B., R., Jones, H., Frew, E., LeMaster, E., A., Rock, S., M. 1997
  • Global position determination and vehicle path estimation from a vision sensor for real-time video Mosaicking and navigation Oceans 97 MTS/IEEE Conference Fleischer, S. D., Rock, S. M., Burton, R. IEEE. 1997: 641–647
  • Station keeping of an ROV using vision technology Oceans 97 MTS/IEEE Conference Leabourne, K. N., Rock, S. M., Fleischer, S. D., Burton, R. IEEE. 1997: 634–640
  • Station Keeping of an ROV Using Vision Technology Leabourne, K., N., Rock, S., M., Fleischer, S., D., Burton, R., L. 1997
  • Global Position Determination and Vehicle Path Estimation from a Vision Sensor for Real-Time Video Mosaicking and Navigation Fleischer, S., D., Rock, S., M., Burton, R., L. 1997
  • Frequency-weighted state estimation with application to estimation in the presence of sensor bias IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY ALDER, L. J., Rock, S. M. 1996; 4 (4): 427-436
  • OTTER: The design and development of an intelligent underwater robot 1995 IEEE International Conference on Robotics and Automation - Autonomous Underwater Robots Wang, H. H., Rock, S. M., Lee, M. J. KLUWER ACADEMIC PUBL. 1996: 297–320
  • Experiments in the hydrodynamic modeling of an underwater manipulator 1996 Symposium on Autonomous Underwater Vehicle Technology (AUV 96) McLain, T. W., Rock, S. M. I E E E. 1996: 463–469
  • Video mosaicking along arbitrary vehicle paths 1996 Symposium on Autonomous Underwater Vehicle Technology (AUV 96) Fleischer, S. D., Wang, H. H., Rock, S. M., Lee, M. J. I E E E. 1996: 293–299
  • Carrier Phase GPS and Computer Vision for the Control of an Autonomous Helicopter Woodley, B., R., Jones, H., L., LeMaster, E., A., Frew, E., W., Rock, S., M. 1996
  • Real-time Dynamic Trajectory Optimization Miles, D., W., Rock, S., M. 1996
  • A Contestant in the 1996 International Aerial Robotics Competition Woodley, B., R., Jones, H., Frew, E., LeMaster, E., A., Rock, S., M. 1996
  • Experiments in the Hydrodynamic Modeling of an Underwater Manipulator McLain, T., W., Rock, S., M. 1996
  • Video Mosaicking Along Arbitrary Vehicle Paths Fleischer, S., D., Wang, H., H., Rock, S., M., Lee, M., J. 1996
  • Joint evaluation of mission programming for underwater robots IEEE International Conference on Robotics and Automation COSTEMANIERE, E., Peuch, A., Perrier, M., Rigaud, V., Wang, H. H., Rock, S. M., Lee, M. J. IEEE. 1996: 2492–2497
  • Experiments in the coordinated control of an underwater arm/vehicle system 1995 IEEE International Conference on Robotics and Automation - Autonomous Underwater Robots McLain, T. W., Rock, S. M., Lee, M. J. KLUWER ACADEMIC PUBL. 1996: 213–32
  • TOWARD AN IMPROVED UNDERSTANDING OF THRUSTER DYNAMICS FOR UNDERWATER VEHICLES IEEE JOURNAL OF OCEANIC ENGINEERING Healey, A. J., Rock, S. M., Cody, S., Miles, D., Brown, J. P. 1995; 20 (4): 354-361
  • NEURAL-NETWORK CONTROL OF A FREE-FLYING SPACE ROBOT SIMULATION Wilson, E., Rock, S. M. 1995; 65 (2): 103-115
  • REAL-TIME VIDEO MOSAICKING OF THE OCEAN-FLOOR IEEE JOURNAL OF OCEANIC ENGINEERING MARKS, R. L., Rock, S. M., Lee, M. J. 1995; 20 (3): 229-241
  • INTEGRATED FLIGHT PROPULSION CONTROL - SUBSYSTEM SPECIFICATIONS FOR PERFORMANCE JOURNAL OF GUIDANCE CONTROL AND DYNAMICS NEIGHBORS, W. K., Rock, S. M. 1995; 18 (3): 572-578
  • Real-time video mosaicking of the ocean floor IEEE Journal of Oceanic Engineering Marks, R., L., Rock, S., M., Lee, M., J. 1995; 20 (3): 229-241
  • Improved real-time video mosaicking of the ocean floor OCEANS 95 MTS/IEEE Conference on Challenges of Our Changing Global Environment Fleischer, S. D., MARKS, R. L., Rock, S. M., Lee, M. J. MARINE TECHNOLOGY SOC. 1995: 1935–1944
  • Reconfigurable control of a free-flying space robot using neural networks 1995 American Control Conference Wilson, E., Rock, S. M. AMER AUTOMATIC CONTROL COUNCIL. 1995: 1355–1359
  • Experiments in automatic retrieval of underwater objects with an AUV OCEANS 95 MTS/IEEE Conference on Challenges of Our Changing Global Environment Wang, H. H., Rock, S. M., Lee, M. J. MARINE TECHNOLOGY SOC. 1995: 366–373
  • Experiments in the coordination of underwater manipulator and vehicle control OCEANS 95 MTS/IEEE Conference on Challenges of Our Changing Global Environment McLain, T. W., Rock, S. M., Lee, M. J. MARINE TECHNOLOGY SOC. 1995: 1208–1215
  • A Contestant in the 1995 International Aerial Robotics Competition Woodley, B., R., Jennings, C., Conway, A., Rock, S., M. 1995
  • Coupled-System Stability of Flexible-Object Impedance Control Meer, D., W., Rock, S., M. 1995
  • Improved Real-Time Video Mosaicking of the Ocean Floor Fleischer, S., D., Marks, R., L., Rock, S., M., Lee, M., J. 1995
  • Neural Network Control of a Free-Flying Space Robot Simulation Wilson, E., Rock, S., M. 1995; 65 (2): 103-115
  • Experiments in the coordination of Underwater Manipulator and Vehicle Control McLain, T., W., Rock, S., M., Lee, M., J. 1995
  • Underwater Vehicle Control from a Virtual Environment Interface Fleischer, S., D., Rock, S., M., Lee, M., J. 1995
  • Experiments in the Automatic Retrieval of Underwater Objects with an AUV Wang, H., H., Rock, S., M., Lee, M., J. 1995
  • Reconfigurable Control of a Free-Flying Space Robot using Neural Networks Wilson, E., Rock, S., M. 1995
  • OTTER: A Testbed Submersible for Robotics Research Wang, H., H., Marks, R., L., McLain, T., W., Fleischer, S., D., Miles, D., W., Sapilewski, G., A., Rock, S. M. 1995
  • An Operational Space Formulation for a Free-Flying, Multi-Arm Space Robot Russakow, J., Rock, S., M., Khatib, O. 1995
  • EXPERIMENTS IN CONTROL OF A FLEXIBLE-LINK ROBOTIC MANIPULATOR WITH UNKNOWN PAYLOAD DYNAMICS - AN ADAPTIVE APPROACH INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH ALDER, L. J., Rock, S. M. 1994; 13 (6): 481-495
  • INTEGRATED FLIGHT/PROPULSION CONTROL FOR HELICOPTERS JOURNAL OF THE AMERICAN HELICOPTER SOCIETY Rock, S. M., Neighbors, K. 1994; 39 (3): 34-42
  • ACTIVE CONTROL OF WING ROCK USING TANGENTIAL LEADING-EDGE BLOWING AIAA 31st Aerospace Sciences Meeting Wong, G. S., Rock, S. M., Wood, N. J., Roberts, L. AMER INST AERONAUT ASTRONAUT. 1994: 659–65
  • INTEGRATED FLIGHT/PROPULSION CONTROL - SUBSYSTEM SPECIFICATIONS JOURNAL OF GUIDANCE CONTROL AND DYNAMICS Rock, S. M., EMAMINAEINI, A., Neighbors, K. 1994; 17 (1): 201-208
  • NEURAL-NETWORK CONTROL OF A FREE-FLYING SPACE ROBOT 1994 International-Neural-Network-Society Annual Meeting - World Congress on Neural Networks-San Diego Wilson, E., Rock, S. M. LAWRENCE ERLBAUM ASSOC PUBL. 1994: B15–B22
  • AUTOMATIC VISUAL STATION KEEPING OF AN UNDERWATER ROBOT Oceans 94/OSATES Conference on Oceans Engineering for Today's Technology and Tomorrow's Preservation MARKS, R. L., Wang, H. H., Lee, M. J., Rock, S. M. IEEE. 1994: B137–B142
  • Toward an improved understanding of thruster dynamics for underwater vehicles 1994 Symposium on Autonomous Underwater Vehicle Technology (AUV 94) Healey, A. J., Rock, S. M., Cody, S., Miles, D., Brown, J. P. IEEE. 1994: 340–352
  • Real-time video mosaicking of the ocean floor 1994 Symposium on Autonomous Underwater Vehicle Technology (AUV 94) MARKS, R. L., Rock, S. M., Lee, M. J. IEEE. 1994: 21–27
  • Visual Sensing for Control of an Underwater Robotic Vehicle Marks, R., L., Lee, M., J., Rock, S., M. 1994
  • Real-Time Video Mosaicking of the Ocean Floor Marks, R., L., Rock, S., M., Lee, M., J. 1994
  • Object-Based Task-Level Control: A Hierarchical Control Architecture for Remote Operation of Space Robots Stevens, H., D., Miles, E., S., Rock, S., M., Cannon, R., H. 1994
  • Experiments in Object Impedance Control for Flexible Objects Meer, D., W., Rock, S., M. 1994
  • Experiments in Control of a Flexible-Link Robotic Manipulator with Unknown Payload Dynamics: An Adaptive Approach International Journal of Robotics Research Alder, L., J., Rock, S., M. 1994; 13 (6): 481-495
  • Automatic Visual Station Keeping of an Underwater Robot Marks, R., L., Wang, H., H., Lee, M., J., Rock, S., M. 1994
  • Neural network control of a free-flying space robot Wilson, E., Rock, S., M. 1994
  • Toward an improved understanding of thruster dynamics for underwater vehicles Healey, A., J., Rock, S., M., Cody, S., Miles, D., Brown, J., P. 1994
  • Generalized Object Control and Assembly for Space Robots Russakow, J., Rock, S., M. 1994
  • Experiments in Control of a Free-Flying Space Robot using Fully-Connected Neural Networks Wilson, E., Rock, S., M. 1993
  • EXPERIMENTS IN CONTROL OF A FREE-FLYING SPACE ROBOT USING FULLY-CONNECTED NEURAL NETWORKS World Congress on Neural Networks (WCNN 93, Portland) Wilson, E., Rock, S. M. LAWRENCE ERLBAUM ASSOC PUBL. 1993: 157–162
  • ADAPTIVE-CONTROL OF A FLEXIBLE-LINK ROBOTIC MANIPULATOR WITH UNKNOWN PAYLOAD DYNAMICS 1993 AMERICAN CONTROL CONF ALDER, L. J., Rock, S. M. I E E E. 1993: 2088–2092
  • AUTOMATIC OBJECT TRACKING FOR AN UNMANNED UNDERWATER VEHICLE USING REAL-TIME IMAGE FILTERING AND CORRELATION 1993 IEEE International Conference on Systems, Man and Cybernetics MARKS, R. L., Rock, S. M., Lee, M. J. I E E E. 1993: 337–342
  • Adaptive Control of a Flexible-Link Robotic Manipulator with Unknown Payload Dynamics Alder, L., J., Rock, S., M. 1993
  • Task-Based Control Architecture for an Untethered, Unmanned Submersible Wang, H., H., Marks, R., L., Rock, S., M., Lee, M., J. 1993
  • Object Control for Undersea Robotic Vehicles Stanford University Aerospace Robotics Lab Cannon, R., H., Rock, S., M., Marks, R., L., McLain, T., W., Miles, D., W., Wang, H., H. 1993
  • A Modular System Architecture for Multi-Manipulator, Free-Flying Space Robots Ullman, M., A., Cannon, R., H., Rock, S., M. 1993
  • Optimal Control of a Two-Link Flexible Manipulator Using Time-Varying Controller Gains: Initial Experiments Ballhaus, W., L., Rock, S., M., E. Jr., B., A. 1992
  • EXPERIMENTAL-MEASUREMENT OF ROV TETHER TENSION INTERVENTION / ROV 92 CONF AND EXPOSITION : A DECADE OF ACHIEVEMENTS McLain, T. W., Rock, S. M. MARINE TECHNOLOGY SOC. 1992: 291–296
  • Cooperative Manipulation of Flexible Objects: Initial Experiments Meer, D., W., Rock, S., M. 1992
  • End-Point Control of a Two-Link Flexible Robotic Manipulator with a Mini-Manipulator: Dynamic Coupling Issues Ballhaus, W., L., Rock, S., M. 1992
  • Experimental Measurement of ROV Tether Tension McLain, T., W., Rock, S., M. 1992
  • End-Point Control of a Two-Link Flexible Robotic Manipulator with a Mini-Manipulator: Initial Experiments Ballhaus, W., L., Rock, S., M. 1992
  • Combined Camera and Vehicle Tracking of Underwater Objects Wang, H., H., Marks, R., L., Rock, S., M., Lee, M., J., Burton, R., C. 1992
  • Control of a Flexible Robotic Manipulator with Unknown Payload Dynamics: Initial Experiments Alder, L., J., Rock, S., M. 1991
  • EFFECT OF MODEL UNCERTAINTY ON FAILURE-DETECTION - THE THRESHOLD SELECTOR IEEE TRANSACTIONS ON AUTOMATIC CONTROL EMAMINAEINI, A., AKHTER, M. M., Rock, S. M. 1988; 33 (12): 1106-1115