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)

Beyond Task and Motion Planning: Hierarchical Robot Planning with General-Purpose Policies. - Benned Hedegaard; Ziyi Yang; Yichen Wei; Ahmed Jaafar; Stefanie Tellex; George Konidaris 001; Naman Shah 004 (CoRR, 2025)