On-Line Soil Property Estimation for Autonmous Excavator Vehicles. - Choopar Tan; Yahya H. Zweiri; Kaspar Althoefer; Lakmal D. Seneviratne (ICRA, 2003)

Hybrid Model in a Real-time Soil Parameter Identification Scheme for Autonomous Excavation. - Choopar Tan; Yahya H. Zweiri; Kaspar Althoefer; Lakmal D. Seneviratne (ICRA, 2004)

Online Soil-bucket Interaction Identification for Autonomous Excavation. - Choopar Tan; Yahya H. Zweiri; Kaspar Althoefer; Lakmal D. Seneviratne (ICRA, 2005)