A robust approach to high-speed navigation for unrehearsed desert terrain. - Chris Urmson; Charlie Ragusa; David Ray; Joshua Anhalt; Daniel Bartz; Tugrul Galatali; Alexander Gutierrez; Josh Johnston; Sam Harbaugh; Hiroki Kato; William C. Messner; Nick Miller; et al. (J. Field Robotics, 2006)

Software Infrastructure for an Autonomous Ground Vehicle. - Matthew McNaughton; Christopher R. Baker; Tugrul Galatali; Bryan Salesky; Christopher Urmson; Jason Ziglar (J. Aerosp. Comput. Inf. Commun., 2008)

Autonomous driving in urban environments: Boss and the Urban Challenge. - Chris Urmson; Joshua Anhalt; Drew Bagnell; Christopher R. Baker; Robert Bittner; M. N. Clark; John M. Dolan; Dave Duggins; Tugrul Galatali; Christopher Geyer; Michele Gittleman; Sam Harbaugh; et al. (J. Field Robotics, 2008)