Distributed Control for a Modular, Reconfigurable Cliff Robot. - Paolo Pirjanian; Chris Leger; Erik Mumm; Brett Kennedy; Michael Garrett; Hrand Aghazarian; Shane Farritor; Paul S. Schenker (ICRA, 2002)

Planetary Cliff Descent Using Cooperative Robots. - Erik Mumm; Shane Farritor; Paolo Pirjanian; Chris Leger; Paul S. Schenker (Auton. Robots, 2004)

MARTE: Technology development and lessons learned from a Mars drilling mission simulation. - Howard N. Cannon; Carol R. Stoker; Stephen E. Dunagan; Kiel Davis; Javier Gómez-Elvira; Brian J. Glass; Lawrence G. Lemke; David P. Miller; Rosalba Bonaccorsi; Mark Branson; Scott Christa; José Antonio Rodríguez Manfredi; et al. (J. Field Robotics, 2007)