Walk the Talk: Connecting Language, Knowledge, and Action in Route Instructions. - Matt MacMahon; Brian Stankiewicz; Benjamin Kuipers (AAAI, 2006)

Integrating Multiple Representations of Spatial Knowledge for Mapping, Navigation, and Communication. - Patrick Beeson; Matt MacMahon; Joseph Modayil; Aniket Murarka; Benjamin Kuipers; Brian Stankiewicz (AAAI Spring Symposium: Interaction Challenges for Intelligent Assistants, 2007)