The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue. - Frank Dellaert; Tucker R. Balch; Michael Kaess; Ram Ravichandran; Fernando Alegre; Marc Berhault; Robert McGuire; Ernest Merrill; Lilia V. Moshkina; Daniel Walker (AAAI Mobile Robot Competition, 2002)

Proprioceptive Control for a Robotic Vehicle over Geometric Obstacles. - Kenneth J. Waldron; Ronald C. Arkin; Douglas J. Bakkum; Ernest Merrill; Muhammad E. Abdallah (ICRA, 2003)