Manecius Selvakumar Joseph Atmanand M. A Ramadass G. A Ramesh Raju Jayakumar V. K. Navigation and Position Control of Underwater Vehicle ROSUB 6000. 25-32 2010 FIRA RoboWorld Congress http://dx.doi.org/10.1007/978-3-642-15810-0_4 conf/fira/2010 db/conf/fira/fira2010.html#JosephAARK10