Event-Driven Parts' Moving in 2D Endogeneous Environments. - C. Serkan Karagöz; H. Isil Bozma; Daniel E. Koditschek (ICRA, 2000)

Feedback-based event-driven parts moving. - C. Serkan Karagöz; H. Isil Bozma; Daniel E. Koditschek (IEEE Trans. Robotics, 2004)

Coordinated Navigation of Multiple Independent Disk-Shaped Robots. - C. Serkan Karagöz; H. Isil Bozma; Daniel E. Koditschek (IEEE Trans. Robotics, 2014)