An Optimum Path and Posture Planning for Fixtureless Assembly. - Paul I. Ro; Byung R. Lee (ICRA (2), 1993)

Path finding and grasp planning for robotic assembly. - Byung R. Lee; Paul I. Ro (Robotica, 1994)

Two-arm kinematic posture optimization for fixtureless assembly. - Paul I. Ro; Byung R. Lee; Mark A. Seelhammer (J. Field Robotics, 1995)