Ground Plane Motion Parameter Estimation for Non-circular Paths. - G. J. Ellwood; Ying Zheng; Stephen A. Billings; John E. W. Mayhew; John P. Frisby (BMVC, 1992)

Docking for mobile robots. - G. J. Ellwood; Ying Zheng; John E. W. Mayhew (BMVC, 1994)