Mixed Discrete-Continuous Heuristic Generative Planning Based on Flow Tubes. - Enrique Fernández-González; Erez Karpas; Brian Charles Williams (IJCAI, 2015)

Reactive Integrated Motion Planning and Execution. - Andreas G. Hofmann; Enrique Fernández-González; Justin Helbert; Scott D. Smith; Brian Charles Williams (IJCAI, 2015)

Mixed Discrete-Continuous Planning with Convex Optimization. - Enrique Fernández-González; Erez Karpas; Brian Charles Williams (AAAI, 2017)

ScottyActivity: Mixed Discrete-Continuous Planning with Convex Optimization. - Enrique Fernández-González; Brian C. Williams; Erez Karpas (J. Artif. Intell. Res., 2018)