Perception and Planning Architecture for Autonomous Ground Vehicles. - Robert Touchton; Tom Galluzzo; Danny Kent; Carl D. Crane III (Computer, 2006)

Team CIMAR's NaviGator: An unmanned ground vehicle for the 2005 DARPA grand challenge. - Carl D. Crane III; David G. Armstrong II; Robert Touchton; Tom Galluzzo; Sanjay Solanki; Jaesang Lee 001; Daniel Kent 004; Maryum Ahmed; Roberto Montane; Shannon C. Ridgeway; Steven J. Velat; Greg Garcia; et al. (J. Field Robotics, 2006)

Software Architectures for Autonomy. - Robert Touchton; Carl D. Crane III (Encyclopedia of Complexity and Systems Science, 2009)