Cornell university's 2005 DARPA grand challenge entry. - Isaac Miller; Sergei Lupashin; Noah Zych; Pete Moran; Brian Schimpf; Aaron Nathan; Ephrahim Garcia (J. Field Robotics, 2006)

Team Cornell's Skynet: Robust perception and planning in an urban environment. - Isaac Miller; Mark E. Campbell; Dan Huttenlocher; Frank-Robert Kline; Aaron Nathan; Sergei Lupashin; Jason Catlin; Brian Schimpf; Pete Moran; Noah Zych; Ephrahim Garcia; Mike Kurdziel; et al. (J. Field Robotics, 2008)