A Hybrid Collision Model for Safety Collision Control. - Thibault Noël; Thomas Flayols; Joseph Mirabel; Justin Carpentier; Nicolas Mansard (ICRA, 2021)

Disk-Graph Probabilistic Roadmap: Biased Distance Sampling for Path Planning in a Partially Unknown Environment. - Thibault Noël; S. Kabbour; Antoine Lehuger; Éric Marchand; François Chaumette (IROS, 2022)

Skeleton Disk-Graph Roadmap: A Sparse Deterministic Roadmap for Safe 2D Navigation and Exploration. - Thibault Noël; Antoine Lehuger; Éric Marchand; François Chaumette (IEEE Robotics Autom. Lett., 2024)