Discrete Optimization of Adaptive State Lattices for Iterative Motion Planning on Unmanned Ground Vehicles. - Benned Hedegaard; Ethan Fahnestock; Jacob Arkin; Ashwin Menon; Thomas M. Howard (IROS, 2021)

Homotopy-Aware Efficiently Adaptive State Lattices for Mobile Robot Motion Planning in Cluttered Environments. - Ashwin Menon; Eric R. Damm; Thomas M. Howard (IEEE Robotics Autom. Lett., 2025)