Nonholonomic Deformation of a Potential Field for Motion Planning. - Sepanta Sekhavat; M. Chyba (ICRA, 1999)

Time optimal paths for a mobile robot with one trailer. - M. Chyba; Sepanta Sekhavat (IROS, 1999)

Underwater vehicles: a surprising non time-optimal path. - M. Chyba (CDC, 2003)