A mode-based sensor fusion approach to robotic stair-climbing. - Solomon Steplight; Geofrey Egnal; Sang-Hack Jung; Daniel B. Walker; Camillo J. Taylor; James P. Ostrowski (IROS, 2000)

Physical Path Planning Using a Pervasive Embedded Network. - Keith J. O'Hara; Daniel B. Walker; Tucker R. Balch (IEEE Trans. Robotics, 2008)