Bifurcations and symmetries of optimal solutions for distributed robotic systems. - Baoyang Deng; Mihir Sen; Bill Goodwine (ACC, 2009)

Bifurcations of optimal solutions for coordinated robotic systems: Numerical and homotopy methods. - Baoyang Deng; Andres K. Valenzuela; Bill Goodwine (ICRA, 2010)

Bifurcations and symmetry in two optimal formation control problems for mobile robotic systems. - Baoyang Deng; Michael O'Connor; Bill Goodwine (Robotica, 2017)