A Modularized Sensitive Skin for Motion Planning in Uncertain Environments. - D. Um; B. Stankovich; K. Giles; T. Hammond; Vladimir J. Lumelsky (ICRA, 1998)

Fault Tolerance via Component Redundancy for a Modularized Sensitive Skin. - D. Um; Vladimir J. Lumelsky (ICRA, 1999)

Fault tolerance via analytic redundancy for a modularized sensitive skin. - D. Um; Vladimir J. Lumelsky (IROS, 1999)

How to Tackle Sensor-Based Manipulator Planning Problems Using Model-Based Planners: Conversion and Implementation. - D. Um (Int. J. Robotics Autom., 2009)