Path planning by robot decomposition and parallel search. - Mahmoud Tarokh; Arjang Hourtash (ICRA, 1997)

Manipulator path planning by decomposition: algorithm and analysis. - Arjang Hourtash; Mahmoud Tarokh (IEEE Trans. Robotics Autom., 2001)

The kinematic Hessian and higher derivatives. - Arjang Hourtash (CIRA, 2005)

The CX-space: a Unified Paradigm for Grasping using Multifingered Hands. - Arjang Hourtash (ICRA, 2006)