Use of mission roles as a robotic tasking device. - David J. Anhalt; John R. Spofford (Mobile Robots, 1999)

Toroidal skin drive for snake robot locomotion. - James C. McKenna; David J. Anhalt; Frederick M. Bronson; H. Benjamin Brown; Michael Schwerin; Elie A. Shammas; Howie Choset (ICRA, 2008)