Low Cost Fault Detection Isolation and Recovery Implemented on an Autonomous Unmanned Ground Vehicle. - Phillip L. Koon; Matthew Johnson-Roberson; Chris Urmson; Jay Gowdy; Kevin M. Peterson (IASSE, 2004)

Testing Driver Skill for High-Speed Autonomous Vehicles. - Chris Urmson; William Whittaker; Sam Harbaugh; Michael Clark; Phillip L. Koon (Computer, 2006)

A robust approach to high-speed navigation for unrehearsed desert terrain. - Chris Urmson; Charlie Ragusa; David Ray; Joshua Anhalt; Daniel Bartz; Tugrul Galatali; Alexander Gutierrez; Josh Johnston; Sam Harbaugh; Hiroki Kato; William C. Messner; Nick Miller; et al. (J. Field Robotics, 2006)