RADIUS: Risk-Aware, Real-Time, Reachability-Based Motion Planning. - Challen Enninful Adu; Jinsun Liu; Lucas Lymburner; Vishrut Kaushik; Lena Trang; Ram Vasudevan (Robotics: Science and Systems, 2023)

REFINE: Reachability-Based Trajectory Design Using Robust Feedback Linearization and Zonotopes. - Jinsun Liu; Yifei Simon Shao; Lucas Lymburner; Hansen Qin; Vishrut Kaushik; Lena Trang; Ruiyang Wang; Vladimir Ivanovic; H. Eric Tseng; Ram Vasudevan (IEEE Trans. Robotics, 2024)