New Control Concept for a Gantry Tractor Comprising a "Chorus Line" of Synchronized Modules. - Yousef Ibrahim; Ian Spark; Andrew Percy (IEEE Trans. Ind. Electron., 2010)

A numerical control algorithm for navigation of an operator-driven snake-like robot with 4WD-4WS segments. - Andrew Percy; Ian Spark; M. Yousef Ibrahim 001; Leon C. Hardy (Robotica, 2011)

New Algorithms for Navigating a Gantry Tractor Comprising a "Chorus Line" of Synchronized Modules. - Andrew Percy; Ian Spark; M. Yousef Ibrahim 001 (IEEE Trans. Ind. Electron., 2011)