An autonomous mobile robot for carrying food trays to the aged and disabled. - Kenji Matsukuma; Muneshige Yamazaki; Shinji Kanda; Tsugito Maruyama (Adv. Robotics, 2000)

Indoor Navigation of Multiple Mobile Robots in a Dynamic Environment using iGPS. - Yoshiro Hada; Kunikatsu Takase; Kouji Ohgaki; Kenji Matsukuma; Ryokichi Hirata; Shinji Okumura (ICRA, 2002)