An efficient and generic 2D Inevitable Collision State-checker. - Luis Martinez-Gomez; Thierry Fraichard (IROS, 2008)

Collision avoidance in dynamic environments: An ICS-based solution and its comparative evaluation. - Luis Martinez-Gomez; Thierry Fraichard (ICRA, 2009)

Inevitable Collision States: A probabilistic perspective. - Antoine Bautin; Luis Martinez-Gomez; Thierry Fraichard (ICRA, 2010)