Roadmap composition for multi-arm systems path planning. - Mokhtar Gharbi; Juan Cortés; Thierry Siméon (IROS, 2009)

Planning pick-and-place tasks with two-hand regrasping. - Jean-Philippe Saut; Mokhtar Gharbi; Juan Cortés; Daniel Sidobre; Thierry Siméon (IROS, 2010)

Planification de mouvements et manipulation d'objets par des torses humanoïdes. (Motions planning and objects manipulation with humanoid torsos). - Mokhtar Gharbi (2010)