The HumanoidLab - Involving Students in a Research Centre Through an Educational Initiative. - Guillem Alenyà; José Luis Rivero; Aleix Rull; Patrick Grosch; Sergi Hernández (CSEDU (2), 2014)

Distance Bound Smoothing under orientation constraints. - Aleix Rull; Josep M. Porta; Federico Thomas (ICRA, 2015)

Sensor Localization from Distance and Orientation Constraints. - Josep M. Porta; Aleix Rull; Federico Thomas (Sensors, 2016)