A Proximity Metric for Continuum Path Planning. - Charles E. Buckley; Larry J. Leifer (IJCAI, 1985)

A Divide-and-Conquer Algorithm for Computing 4-Dimensional Convex Hulls. - Charles E. Buckley (Workshop on Computational Geometry, 1988)

A Foundation for the "Flexible-Trajectory" Approach to Numeric Path Planning. - Charles E. Buckley (Int. J. Robotics Res., 1989)