Computing spanners of asymptotically optimal probabilistic roadmaps. - James D. Marble; Kostas E. Bekris (IROS, 2011)

Asymptotically Near-Optimal Is Good Enough for Motion Planning. - James D. Marble; Kostas E. Bekris (ISRR, 2011)

Towards small asymptotically near-optimal roadmaps. - James D. Marble; Kostas E. Bekris (ICRA, 2012)

PRACSYS: An Extensible Architecture for Composing Motion Controllers and Planners. - Andrew Kimmel; Andrew Dobson; Zakary Littlefield; Athanasios Krontiris; James D. Marble; Kostas E. Bekris (SIMPAR, 2012)

Asymptotically Near-Optimal Planning With Probabilistic Roadmap Spanners. - James D. Marble; Kostas E. Bekris (IEEE Trans. Robotics, 2013)