Enhancing situational awareness through multirate control of an autonomous underwater vehicleAstrov, Igor; Pedai, Andrus; Rüstern, EnnuProceedings of the 2009 IEEE International Conference on Mechatronics and Automation : August 9-12, Changchun, China2009 / p. 1184-1189 : illhttps://ieeexplore.ieee.org/document/5246459?reload=true&arnumber=5246459