The BUGS "Basic UXO Gathering System" project for UXO clearance & mine countermeasures. - Christopher K. DeBolt; Chris O'Donnell; Craig Freed; Tuan Nguyen (ICRA, 1997)

Test Bed Robot Development for Cooperative Submunitions Clearance. - Polly K. Pook; Christopher K. DeBolt (Int. J. Robotics Res., 1999)