Autonomous Vehicle Control Using Al Techniques. - David M. Keirsey; J. Mitchell; B. Bullock; T. Nussmeier; David Y. Tseng (IEEE Trans. Software Eng., 1985)

Autonomous cross-country navigation with the ALV. - Mike Daily; John G. Harris; David M. Keirsey; Karen E. Olin; David W. Payton; Kurt Reiser; Julio K. Rosenblatt; David Y. Tseng; V. Wong (ICRA, 1988)

Autonomous Cross-Country Navigation: An Integrated Perception and Planning System. - Karen E. Olin; David Y. Tseng (IEEE Expert, 1991)