Real-time Path Planning for Navigation in Unknown Environment. - Tao Ruan Wan; Heng Chen 001; Rae A. Earnshaw (TPCG, 2003)

A Motion Constraint Dynamic Path Planning Algorithm for Multi-Agent Simulations. - Tao Ruan Wan; Heng Chen 001; Rae A. Earnshaw (WSCG (Full Papers), 2005)

A real-time 3D motion planning and simulation scheme for nonholonomic systems. - Tao Ruan Wan; Wen Tang; Heng Chen 001 (Simul. Model. Pract. Theory, 2011)