The Geometrical Structure of Path Planning Problems. - Leo Dorst; Indur Mandhyan; Karen Trovato (IAS, 1989)

Autonomous Planning of Vehicle Maneuvers. - Karen Trovato; Leo Dorst (IAS, 1989)

Differential a*: an Adaptive Search Method Illustrated with Robot Path Planning for Moving Obstacles and Goals, and an uncertain Environment. - Karen Trovato (Int. J. Pattern Recognit. Artif. Intell., 1990)

The geometrical representation of path planning problems. - Leo Dorst; Indur Mandhyan; Karen Trovato (Robotics Auton. Syst., 1991)

General Planning Method for Machine Coordination and Rendezvous. - Karen Trovato (J. Circuits Syst. Comput., 1994)

Differential A*. - Karen Trovato; Leo Dorst (IEEE Trans. Knowl. Data Eng., 2002)

Automated RFA planning for complete coverage of large tumors. - Karen Trovato; Sandeep Dalal; Jochen Kruecker; Aradhana Venkatesan; Bradford J. Wood (Image-Guided Procedures, 2009)

Collision-free 6D non-holonomic planning for nested cannulas. - Karen Trovato; Aleksandra Popovic (Image-Guided Procedures, 2009)

Identification of Incidental Pulmonary Nodules in Free-text Radiology Reports: An Initial Investigation. - Lucas Oliveira; Ranjith Tellis; Yuechen Qian; Karen Trovato; Gabe Mankovich (MedInfo, 2015)

Follow-up Recommendation Detection on Radiology Reports with Incidental Pulmonary Nodules. - Lucas Oliveira; Ranjith Tellis; Yuechen Qian; Karen Trovato; Gabe Mankovich (MedInfo, 2015)