@conference {WangM:1993,
	title = {{Task-Based Control Architecture for an Untethered, Unmanned Submersible}},
	booktitle = {Proceedings of the 8th Annual Symposium of Unmanned Untethered Submersible Technology},
	year = {1993},
	month = {September},
	pages = {137-147},
	address = {Marine Systems Engineering Laboratory, Northeastern University},
	author = {H. H. Wang and R. L. Marks and Stephen M. Rock and M. J. Lee}
}
