The OmniTread OT-4 serpentine robot - design and performance. - Johann Borenstein; Malik Hansen; Adam Borrell (J. Field Robotics, 2007)

The OmniTread OT-4 serpentine robot. - Johann Borenstein; Adam Borrell (ICRA, 2008)

Integration of infrastructure based positioning systems and inertial navigation for ubiquitous context-aware engineering applications. - Manu Akula; Suyang Dong; Vineet R. Kamat; Lauro V. Ojeda; Adam Borrell; Johann Borenstein (Adv. Eng. Informatics, 2011)