Internal posture sensing for a flexible frame modular mobile robot. - Roy Merrell; Mark A. Minor (ICRA, 2003)

Motion Control and Sensing Strategy for a two-axle Compliant Framed Wheeled Modular Mobile robot. - Xiaorui Zhu; Roy Merrell; Mark A. Minor (ICRA, 2006)

Instrumentation and Algorithms for Posture Estimation in Compliant Framed Modular Mobile Robots. - Mark A. Minor; Roy Merrell (Int. J. Robotics Res., 2007)

Cooperative Motion Control and Sensing Architecture in Compliant Framed Modular Mobile Robots. - Xiaorui Zhu; Youngshik Kim; Roy Merrell; Mark A. Minor (IEEE Trans. Robotics, 2007)