Safe Adaptation Using Energy Functions. - Charles Noren; Changliu Liu (CoRR, 2019)

High Speed Convoy in Unstructured Indoor Environments. - Namya Bagree; Charles Noren; Damanpreet Singh; Matthew Travers; Bhaskar Vundurthy (CoRR, 2022)

Modular, Resilient, and Scalable System Design Approaches - Lessons learned in the years after DARPA Subterranean Challenge. - Prasanna Sriganesh; James Maier; Adam Johnson; Burhanuddin Shirose; Rohan Chandrasekar; Charles Noren; Joshua Spisak; Ryan Darnley; Bhaskar Vundurthy; Matthew Travers (CoRR, 2024)

A Synchronized Task Formulation for Robotic Convoy Operations. - Charles Noren; Bhaskar Vundurthy; Sebastian A. Scherer; Howie Choset; Matthew J. Travers (IEEE Robotics Autom. Lett., 2025)