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

  • Emeritus Faculty, Acad Council, Aeronautics and Astronautics
  • Member, Bio-X

Professional Education

  • PhD, Stanford University (1978)

Contact

  • Academic
    rock@stanford.edu
    University - Emeritus faculty Department: Aeronautics and Astronautics Position: Emeritus Faculty, Acad Council
    • DURAND 265
    • Stanford,  California  94305-4035 

Additional Info

  • Mail Code: 4035
  • Other Names:
    Steve Rock

2023-24 Courses

Stanford Advisees

All Publications

  • A hybrid underwater robot for multidisciplinary investigation of the ocean twilight zone. Science robotics Yoerger, D. R., Govindarajan, A. F., Howland, J. C., Llopiz, J. K., Wiebe, P. H., Curran, M., Fujii, J., Gomez-Ibanez, D., Katija, K., Robison, B. H., Hobson, B. W., Risi, M., Rock, S. M. 2021; 6 (55)

    Abstract

    Mesobot, an autonomous underwater vehicle, addresses specific unmet needs for observing and sampling a variety of phenomena in the ocean's midwaters. The midwater hosts a vast biomass, has a role in regulating climate, and may soon be exploited commercially, yet our scientific understanding of it is incomplete. Mesobot has the ability to survey and track slow-moving animals and to correlate the animals' movements with critical environmental measurements. Mesobot will complement existing oceanographic assets such as towed, remotely operated, and autonomous vehicles; shipboard acoustic sensors; and net tows. Its potential to perform behavioral studies unobtrusively over long periods with substantial autonomy provides a capability that is not presently available to midwater researchers. The 250-kilogram marine robot can be teleoperated through a lightweight fiber optic tether and can also operate untethered with full autonomy while minimizing environmental disturbance. We present recent results illustrating the vehicle's ability to automatically track free-swimming hydromedusae (Solmissus sp.) and larvaceans (Bathochordaeus stygius) at depths of 200 meters in Monterey Bay, USA. In addition to these tracking missions, the vehicle can execute preprogrammed missions collecting image and sensor data while also carrying substantial auxiliary payloads such as cameras, sonars, and samplers.

    View details for DOI 10.1126/scirobotics.abe1901

    View details for PubMedID 34135116

  • A Pilot Aid for Real-Time Vision-Based Coverage Estimation for Seabed Surveying Applications Mahajan, A., Rock, S., IEEE IEEE. 2020

    View details for DOI 10.1109/IEEECONF38699.2020.9389190

    View details for Web of Science ID 000669813301053

  • 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

    View details for Web of Science ID 000492901600119

  • Iceberg Wall Following and Obstacle Avoidance by an AUV McEwen, R. S., Rock, S. P., Hobson, B., IEEE IEEE. 2018

    View details for Web of Science ID 000492901600022

  • Online attitude determination of a passively magnetically stabilized spacecraft ACTA ASTRONAUTICA Burton, R., Rock, S., Springmann, J., Cutler, J. 2017; 133: 269-281

    View details for DOI 10.1016/j.actaastro.2017.01.024

    View details for Web of Science ID 000396946700026

  • 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

    View details for DOI 10.1109/JOE.2014.2300396

    View details for Web of Science ID 000347971400018

  • 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

    View details for Web of Science ID 000316895100034

  • 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

    View details for Web of Science ID 000308787200060

  • Aggressive Terrain Following for Motion-constrained AUVs IEEE/OES Autonomous Underwater Vehicles Conference (AUV) Houts, S. E., Rock, S. M., McEwen, R. IEEE. 2012

    View details for Web of Science ID 000316895100032

  • 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

    View details for DOI 10.1016/j.dsr2.2010.11.005

    View details for Web of Science ID 000291079800003

  • 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

    View details for DOI 10.1109/JOE.2011.2124110

    View details for Web of Science ID 000291044400013

  • 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

    View details for Web of Science ID 000324383402062

  • 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

    View details for Web of Science ID 000290282400038

  • 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

    View details for Web of Science ID 000276394400021

  • 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

    View details for DOI 10.1016/j.mechatronics.2007.07.009

    View details for Web of Science ID 000257053900008

  • Low-Cost Terrain Relative Navigation for Long-Range AUVs OCEANS 2008 Conference Meduna, D. K., Rock, S. M., McEwen, R. IEEE. 2008: 1643–1649

    View details for Web of Science ID 000265654501072

  • Estimating Inertial Position and Current in the Midwater OCEANS 2008 Conference Augenstein, S., Rock, S. IEEE. 2008: 1738–1743

    View details for Web of Science ID 000265654501086

  • Sonar-Based Iceberg-Relative AUV Navigation IEEE/OES Autonomous Underwater Vehicles Conference (AUV 2008) Kimball, P., Rock, S. IEEE. 2008: 20–25

    View details for Web of Science ID 000274806100004

  • 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

    View details for Web of Science ID 000246785500008

  • 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

    View details for Web of Science ID 000246785300002

  • 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

    View details for Web of Science ID 000245915500026

  • 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

    View details for DOI 10.1109/TRO.2005.862484

    View details for Web of Science ID 000236776800006

  • Visual servoing of an ROV for servicing of tethered ocean moorings Oceans 2006 Conference Plotnik, A. M., Rock, S. M. IEEE. 2006: 1451–1456

    View details for Web of Science ID 000246002100265

  • 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

    View details for Web of Science ID 000246002100227

  • 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

    View details for Web of Science ID 000236887500043

  • Toward autonomous free-climbing robots 11th International Symposium on Robotics Research Bretl, T., Latombe, J. C., Rock, S. SPRINGER-VERLAG BERLIN. 2005: 6–15

    View details for Web of Science ID 000228862600001

  • Passive GPS-Free navigation for small UAVs 2005 IEEE Aerospace Conference Langelaan, J., Rock, S. IEEE. 2005: 3011–3019

    View details for Web of Science ID 000238379002084

  • 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

    View details for Web of Science ID 000231865200006

  • 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

    View details for Web of Science ID 000221540400101

  • 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

    View details for Web of Science ID 000187734200004

  • Mars navigation system utilizes GPS IEEE AEROSPACE AND ELECTRONIC SYSTEMS MAGAZINE LeMaster, E. A., Matsuoka, M., Rock, S. M. 2003; 18 (4): 3-8

    View details for Web of Science ID 000182164900001

  • 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

    View details for Web of Science ID 000180741600009

  • 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

    View details for Web of Science ID 000187419900473

  • 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

    View details for Web of Science ID 000184782300080

  • 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

    View details for Web of Science ID 000187419900558

  • 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

    View details for Web of Science ID 000184782300259

  • 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

    View details for Web of Science ID 000187419900677

  • 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

    View details for Web of Science ID 000177926400005

  • Dialogue-based human-robot interaction for space construction teams IEEE Aerospace Conference Jones, H., Rock, S. IEEE. 2002: 3645–3653

    View details for Web of Science ID 000179697800349

  • Field experiments in the control of a jellyfish tracking ROV MTS/IEEE Oceans 2002 Conference Rife, J., Rock, S. M. IEEE. 2002: 2031–2038

    View details for Web of Science ID 000182293200319

  • 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

    View details for Web of Science ID 000179697800347

  • 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

    View details for Web of Science ID 000182293200292

  • 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

    View details for Web of Science ID 000179289100459

  • 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

    View details for Web of Science ID 000176200300022

  • Exploratory motion generation for monocular vision-based target localization IEEE Aerospace Conference Frew, E. W., Rock, S. IEEE. 2002: 3633–3643

    View details for Web of Science ID 000179697800348

  • 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

    View details for Web of Science ID 000182293200247

  • Nonlinear flight control using forebody tangential blowing JOURNAL OF GUIDANCE CONTROL AND DYNAMICS Takahara, Y., Rock, S. M. 2001; 24 (6): 1157-1166

    View details for Web of Science ID 000172223900010

  • 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

    View details for Web of Science ID 000172546300020

  • Visual tracking of jellyfish in situ International Conference on Image Processing (ICIP 2001) Rife, J., Rock, S. M. IEEE. 2001: 289–292

    View details for Web of Science ID 000177932500072

  • 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

    View details for Web of Science ID 000178200800179

  • 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

    View details for Web of Science ID 000178200800162

  • 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

    View details for Web of Science ID 000084187800012

  • 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

    View details for Web of Science ID 000076354600006

  • 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

    View details for Web of Science ID 000074575200005

  • 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

    View details for Web of Science ID 000071876300011

  • 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

    View details for Web of Science ID 000078690700024

  • 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

    View details for Web of Science ID 000075568200148

  • 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

    View details for Web of Science ID A1997BJ68T00113

  • 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

    View details for Web of Science ID A1997BJ68T00112

  • 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

    View details for Web of Science ID A1996UU44700012

  • 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

    View details for Web of Science ID A1996VV72500014

  • 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

    View details for Web of Science ID A1996BF91Z00058

  • 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

    View details for Web of Science ID A1996BF91Z00037

  • 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

    View details for Web of Science ID A1996BF68P00390

  • 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

    View details for Web of Science ID A1996VV72500009

  • 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

    View details for Web of Science ID A1995RZ86000013

  • NEURAL-NETWORK CONTROL OF A FREE-FLYING SPACE ROBOT SIMULATION Wilson, E., Rock, S. M. 1995; 65 (2): 103-115

    View details for Web of Science ID A1995RZ27900002

  • 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

    View details for Web of Science ID A1995RG93600008

  • 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

    View details for Web of Science ID A1995QY60600026

  • 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

    View details for Web of Science ID A1995BE48W00272

  • 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

    View details for Web of Science ID A1995BD66H00288

  • 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

    View details for Web of Science ID A1995BE48W00055

  • 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

    View details for Web of Science ID A1995BE48W00169

  • 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

    View details for Web of Science ID A1994PU11600002

  • INTEGRATED FLIGHT/PROPULSION CONTROL FOR HELICOPTERS JOURNAL OF THE AMERICAN HELICOPTER SOCIETY Rock, S. M., Neighbors, K. 1994; 39 (3): 34-42

    View details for Web of Science ID A1994RN42200004

  • 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

    View details for Web of Science ID A1994NR63700028

  • INTEGRATED FLIGHT/PROPULSION CONTROL - SUBSYSTEM SPECIFICATIONS JOURNAL OF GUIDANCE CONTROL AND DYNAMICS Rock, S. M., EMAMINAEINI, A., Neighbors, K. 1994; 17 (1): 201-208

    View details for Web of Science ID A1994MT28200028

  • 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

    View details for Web of Science ID A1994BB69E00003

  • 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

    View details for Web of Science ID A1994BB95J00026

  • 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

    View details for Web of Science ID A1994BD85J00048

  • 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

    View details for Web of Science ID A1994BD85J00004

  • 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

    View details for Web of Science ID A1993BA45W00037

  • 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

    View details for Web of Science ID A1993BY87D00460

  • 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

    View details for Web of Science ID A1993BZ90U00059

  • 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

    View details for Web of Science ID A1992BX01S00036

  • 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

    View details for Web of Science ID A1988Q917800004