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Rathnam, R., M. Pfingsthorn, and A. Birk, "Incorporating large scale SSRR Scenarios into the High Fidelity Simulator USARSim", IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR): IEEE Press, pp. 1-6, 2009.
Rathnam, R., and A. Birk, "Distributed Communicative Exploration under Underwater Communication Constraints", Safety, Security, and Rescue Robotics (SSRR), 2011 IEEE International Symposium on, pp. 339 -344, nov., 2011.
Rathnam, R., and A. Birk, "Cooperative 3D Exploration under Communication Constraints, ", IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV), Porto, Portugal, IFAC, 2012.
Rathnam, R., and A. Birk, "Initial Results of Cooperative AUV Exploration in a High-Fidelity Simulation using Real-World Data from Monte da Guia, Azores", IEEE Oceans: IEEE Press, 2013.
Rathnam, R., and A. Birk, "Multi-Robot Exploration with AUVs on Cliffs and other 3D Structures with a Predominant Orientation", IEEE Oceans, 2015.