Sensor Beams, Obstacles, and Possible Paths. - Benjamín Tovar; Fred R. Cohen; Steven M. LaValle (WAFR, 2008)

Gait Transitions for Quasi-static Hexapedal Locomotion on Level Ground. - Galen Clark Haynes; Fred R. Cohen; Daniel E. Koditschek (ISRR, 2009)

Combinatorial Filters: Sensor Beams, Obstacles, and Possible Paths. - Benjamín Tovar; Fred R. Cohen; Leonardo Bobadilla; Justin Czarnowski; Steven M. LaValle (ACM Trans. Sens. Networks, 2014)