Object transportation by multiple mobile robots controlled by attractor dynamics: theory and implementation. - Rui Soares; Estela Bicho; Toni Machado; Wolfram Erlhagen (IROS, 2007)

Rapidly-Exploring Random Tree approach for Geometry Friends. - Rui Soares; Francisco Leal; Rui Prada; Francisco S. Melo (DiGRA/FDG, 2016)