Hierarchical simultaneous localization and mapping. - Brad Lisien; Deryck Morales; David Silver; George Kantor; Ioannis M. Rekleitis; Howie Choset (IROS, 2003)

Arc Carving: Obtaining Accurate, Low Latency Maps from Ultrasonic Range Sensors. - David Silver; Deryck Morales; Ioannis M. Rekleitis; Brad Lisien; Howie Choset (ICRA, 2004)

The hierarchical atlas. - Brad Lisien; Deryck Morales; David Silver; George Kantor; Ioannis M. Rekleitis; Howie Choset (IEEE Trans. Robotics, 2005)

Hybrid localization using the hierarchical atlas. - Stephen Tully; Hyungpil Moon; Deryck Morales; George Kantor; Howie Choset (IROS, 2007)