Energy efficient and collision free motion of industrial robots using optimal control. - Staffan Björkenstam; Daniel Gleeson; Robert Bohlin; Johan S. Carlson; Bengt Lennartson (CASE, 2013)

Exploiting sparsity in the discrete mechanics and optimal control method with application to human motion planning. - Staffan Björkenstam; Johan S. Carlson; Bengt Lennartson (CASE, 2015)

Optimizing robot trajectories for automatic robot code generation. - Daniel Gleeson; Staffan Björkenstam; Robert Bohlin; Johan S. Carlson; Bengt Lennartson (CASE, 2015)

Boolean Subtraction for Proximity Queries With Applications to Path Planning Tasks With Collisions. - Yi Li; Evan Shellshear; Staffan Björkenstam; Robert Bohlin; Johan S. Carlson (IEEE Robotics Autom. Lett., 2025)