Design of a modular snake robot. - Cornell Wright III; Aaron M. Johnson 001; Aaron Peck; Zachary McCord; Allison Naaktgeboren; Philip Gianfortoni; Manuel González-Rivero; Ross L. Hatton; Howie Choset (IROS, 2007)

Design and architecture of the unified modular snake robot. - Cornell Wright III; Austin Buchan; Ben Brown; Jason Geist; Michael Schwerin; David Rollinson; Matthew Tesch; Howie Choset (ICRA, 2012)

Dog and snake marsupial cooperation for urban search and rescue deployment. - Alexander Ferworn; Cornell Wright III; Jimmy Tran; Chao Li; Howie Choset (SSRR, 2012)