Perception-Based Motion Planning for Indoor Exploration. - Peter Leven 001; Seth Hutchinson 001; Darius Burschka; Georg Färber (ICRA, 1999)

Robust, compact representations for real-time path planning in changing environments. - Peter Leven 001; Seth Hutchinson 001 (IROS, 2001)

A Framework for Real-Time Path Planning in Changing Environments - Peter Leven 001 (2001)

A Framework for Real-time Path Planning in Changing Environments. - Peter Leven 001; Seth Hutchinson 001 (Int. J. Robotics Res., 2002)

Using manipulability to bias sampling during the construction of probabilistic roadmaps. - Peter Leven 001; Seth Hutchinson 001 (IEEE Trans. Robotics Autom., 2003)