A Connectivity-Based Method for Enhancing Sampling in Probabilistic Roadmap Planners. - Mika T. Rantanen (J. Intell. Robotic Syst., 2011)

A configuration deactivation algorithm for boosting probabilistic roadmap planning of robots. - Mika T. Rantanen; Martti Juhola (Int. J. Autom. Comput., 2012)

How to construct small probabilistic roadmaps with a good coverage? - Mika T. Rantanen; Martti Juhola (Adv. Robotics, 2014)

Using probabilistic roadmaps in changing environments. - Mika T. Rantanen; Martti Juhola (Comput. Animat. Virtual Worlds, 2014)

Improving Probabilistic Roadmap Methods for Fast Motion Planning ; Reitinsuunnittelun nopeuttaminen reittikarttamenetelmiä parantamalla. - Mika T. Rantanen (2014)

Speeding up probabilistic roadmap planners with locality-sensitive hashing. - Mika T. Rantanen; Martti Juhola (Robotica, 2015)