Design and Gait Control of a Rollerblading Robot. - Sachin Chitta; Frederik W. Heger; Vijay Kumar 001 (ICRA, 2004)

Sliding Autonomy for Complex Coordinated Multi-Robot Tasks: Analysis & Experiments. - Frederik W. Heger; Sanjiv Singh (Robotics: Science and Systems, 2006)

Coordinated Multiagent Teams and Sliding Autonomy for Large-Scale Assembly. - Brennan Sellner; Frederik W. Heger; Laura M. Hiatt; Reid G. Simmons; Sanjiv Singh (Proc. IEEE, 2006)

Generating robust assembly plans in constrained environments. - Frederik W. Heger (ICRA, 2008)

Overcoming sensor noise for low-tolerance autonomous assembly. - Brennan Sellner; Frederik W. Heger; Laura M. Hiatt; Nik A. Melchior; Stephen N. Roderick; Dave Akin; Reid G. Simmons; Sanjiv Singh (IROS, 2008)

Robust robotic assembly through contingencies, plan repair and re-planning. - Frederik W. Heger; Sanjiv Singh (ICRA, 2010)

Assembly Planning in Constrained Environments: Building Structures with Multiple Mobile Robots. - Frederik W. Heger (2010)