On Path Planning and Obstacle Avoidance for Nonholonomic Platforms with Manipulators. - Evangelos Papadopoulos; Ioannis Poulakakis; Iakovos Papadimitriou (Int. J. Robotics Res., 2002)

Fast lane changing computations using polynomials. - Iakovos Papadimitriou; Masayoshi Tomizuka (ACC, 2003)

Polynomial-based obstacle avoidance techniques for nonholonomic mobile manipulator systems. - Evangelos Papadopoulos; Iakovos Papadimitriou; Ioannis Poulakakis (Robotics Auton. Syst., 2005)