Low-altitude terrain following and collision avoidance in a flight-class autonomous underwater vehicle

McPhail, S.D.; Furlong, M.; Pebody, M. 2010 Low-altitude terrain following and collision avoidance in a flight-class autonomous underwater vehicle. Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, 224 (4). 279-292. https://doi.org/10.1243/14750902JEME196