Tentacle-based moving obstacle avoidance for omnidirectional robots with visibility constraints. - Abdellah Khelloufi; Nouara Achour; Robin Passama; Andrea Cherubini (IROS, 2017)

Complementary-route based ICR control for steerable wheeled mobile robots. - Mohamed Sorour; Andrea Cherubini; Abdellah Khelloufi; Robin Passama; Philippe Fraisse (Robotics Auton. Syst., 2019)

Sensor-based Navigation of Omnidirectional Wheeled Robots Dealing with both Collisions and Occlusions. - Abdellah Khelloufi; Nouara Achour; Robin Passama; Andrea Cherubini (Robotica, 2020)