Bending and kissing: Computing self-contact configurations of planar loops with revolute joints. - Li Han; Lee Rudolph; Sam Dorsey-Gordon; Dylan Glotzer; Dan Menard; Jonathan Moran; James R. Wilson (ICRA, 2009)

Configurations and Path Planning of Convex Planar Polygonal Loops. - Li Han; Lee Rudolph; Michael Chou; Sean Corbett; Emily Eagle; Dylan Glotzer; Jake Kramer; Jonathan Moran; Christopher Pietras; Ammar Tareen; Matthew Valko (WAFR, 2012)