Configuration space visualization. - Dror Atariah; Günter Rote (SCG, 2012)

On the Parameterization and the Geometry of the Configuration Space of a Single Planar Robot. - Dror Atariah; Sunayana Ghosh; Günter Rote (J. WSCG, 2013)

Parameterizations in the Configuration Space and Approximations of Related Surfaces (Parametrisierungen und Approximationen von Flächen im Konfigurationsraum) - Dror Atariah (2014)