Adaptive Compliance Shaping with Human Impedance Estimation. - Huang Huang; Henry F. Cappel; Gray C. Thomas; Binghan He; Luis Sentis (ACC, 2020)

Finding Locomanipulation Plans Quickly in the Locomotion Constrained Manifold. - Steven Jens Jorgensen; Mihir Vedantam; Ryan Gupta; Henry Cappel; Luis Sentis (ICRA, 2020)

A Hierarchical Multi-Robot Mapping Architecture Subject to Communication Constraints. - Henry Fielding Cappel (CoRR, 2021)