Computing good holonomic collision-free paths to steer nonholonomic mobile robots. - Thierry Siméon; Stéphane Leroy; Jean-Paul Laumond (IROS, 1997)

A Collision Checker for Car-Like Robots Coordination. - Thierry Siméon; Stéphane Leroy; Jean-Paul Laumond (ICRA, 1998)

Multiple Path Coordination for Mobile Robots: A Geometric Algorithm. - Stéphane Leroy; Jean-Paul Laumond; Thierry Siméon (IJCAI, 1999)

Path coordination for multiple mobile robots: a resolution-complete algorithm. - Thierry Siméon; Stéphane Leroy; Jean-Paul Laumond (IEEE Trans. Robotics Autom., 2002)