A strategy for crossing of the robotic travel aid "Harunobu". - Shinji Kotani; Takateru Nakata; Hideo Mori (IROS, 2001)

The Matching Fund Project for Practical Use of Robotic Travel Aid for the Visually Impaired. - Hideo Mori; Shinji Kotani; Keiji Saneyoshi; Hiroki Sanada; Yuuki Kobayashi; Atsushi Mototsune; Takateru Nakata (Adv. Robotics, 2004)