Cheap or Robust? The practical realization of self-driving wheelchair technology. - Maya Burhanpurkar; Mathieu Labbé; Charlie Guan; François Michaud; Jonathan Kelly (ICORR, 2017)

Efficient Planning for Near-Optimal Compliant Manipulation Leveraging Environmental Contact. - Charlie Guan; William Vega-Brown; Nicholas Roy (ICRA, 2018)