Tactile robotic mapping of unknown surfaces: an application to oil well exploration. - Francesco Mazzini; Daniel T. Kettler; Steven Dubowsky; Julio Guerrero (ROSE, 2009)

An Experimental Validation of Robotic Tactile Mapping in Harsh Environments such as Deep Sea Oil Well Sites. - Francesco Mazzini; Steven Dubowsky (ISER, 2010)

Tactile Robotic Mapping of Unknown Surfaces, With Application to Oil Wells. - Francesco Mazzini; Daniel T. Kettler; Julio Guerrero; Steven Dubowsky (IEEE Trans. Instrum. Meas., 2011)