Gait-Free Planning for Hexapod Walking Robot. - David Valouch; Jan Faigl (ECMR, 2021)

Motion Planning for Multi-Legged Robots Using Levenberg-Marquardt Optimization with Bézier Parametrization. - David Valouch; Jan Faigl (ECMR, 2023)

Caterpillar Heuristic for Gait-Free Planning With Multi-Legged Robot. - David Valouch; Jan Faigl (IEEE Robotics Autom. Lett., 2023)