Rover-Based Surface and Subsurface Modeling for Planetary Exploration. - Paul Timothy Furgale; Tim D. Barfoot; Nadeem Ghafoor (FSR, 2009)

Field Testing of an Integrated Surface/Subsurface Modeling Technique for Planetary Exploration. - Paul Timothy Furgale; Timothy D. Barfoot; Nadeem Ghafoor; Kevin Williams; Gordon R. Osinski (Int. J. Robotics Res., 2010)

Field testing of a rover guidance, navigation, and control architecture to support a ground-ice prospecting mission to Mars. - Timothy D. Barfoot; Paul Timothy Furgale; Braden Stenning; Patrick J. F. Carle; Laura Thomson; Gordon R. Osinski; Michael Daly; Nadeem Ghafoor (Robotics Auton. Syst., 2011)