A Learning Algorithm for Localizing People Based on Wireless Signal Strength that Uses Labeled and Unlabeled Data. - Sebastian Thrun; Geoffrey J. Gordon; Frank Pfenning; Mary Berna; Brennan Sellner; Brad Lisien (IJCAI, 2003)

Hierarchical simultaneous localization and mapping. - Brad Lisien; Deryck Morales; David Silver; George Kantor; Ioannis M. Rekleitis; Howie Choset (IROS, 2003)

Arc Carving: Obtaining Accurate, Low Latency Maps from Ultrasonic Range Sensors. - David Silver; Deryck Morales; Ioannis M. Rekleitis; Brad Lisien; Howie Choset (ICRA, 2004)

The hierarchical atlas. - Brad Lisien; Deryck Morales; David Silver; George Kantor; Ioannis M. Rekleitis; Howie Choset (IEEE Trans. Robotics, 2005)