Path Planning for UGVs Based on Traversability Hybrid A. - Marius Thoresen; Niels Hygum Nielsen; Kim Mathiassen; Kristin Ytterstad Pettersen (IEEE Robotics Autom. Lett., 2021)

The Rapidly Exploring Random Tree Funnel Algorithm. - Ole Petter Orhagen; Marius Thoresen; Kim Mathiassen (ICMRE, 2022)