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IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV’2015), Girona, Spain, 28th – 30th April 2015. Workshop web site: http://ngcuv.udg.edu. The workshop Program is available here:IFAC-NGCUV-2015-Program.

The presentation was kindly delivered by Antonio Pascoal of IST ngcuv-2015-wimust.ppt