A New Solution Method for the Inverse Kinematic Joint Velocity Calculations of Redundant Manipulators. - François G. Pin; Philippe F. R. Belmans; Jean-Christophe Culioli; Derek D. Carlson; Faithlyn A. Tulloch (ICRA, 1994)

Resolving kinematic redundancy with constraints using the FSP (full space parameterization) approach. - François G. Pin; Faithlyn A. Tulloch (ICRA, 1996)

Motion planning for mobile manipulators with a non-holonomic constraint using the FSP (full space parameterization) method. - François G. Pin; Kristi A. Morgansen; Faithlyn A. Tulloch; Charles J. Hacker; Kathryn B. Gower (J. Field Robotics, 1996)