On translating ellipses amidst elliptic obstacles. - B. John Oommen; Irwin Reichstein (ICRA, 1986)

On the problem of translating an elliptic object through a workspace of elliptic obstacles. - B. John Oommen; Irwin Reichstein (Robotica, 1987)

On the problem of multiple mobile robots cluttering a workspace. - B. John Oommen; Irwin Reichstein (Inf. Sci., 1992)