Anisotropic Disturbance Rejection for Kinematically Redundant Systems With Applications on an UVMS. - Wilhelm Johan Marais; Stefan B. Williams; Oscar Pizarro (IEEE Robotics Autom. Lett., 2021)

Go With the Flow: Energy Minimising Periodic Trajectories for UVMS. - Wilhelm Johan Marais; Stefan B. Williams; Oscar Pizarro (ICRA, 2022)

Maximising Wrenches for Kinematically Redundant Systems with Experiments on UVMS. - Wilhelm Johan Marais; Stefan B. Williams; Oscar Pizarro (CoRR, 2022)

Maximising the wrench capability of mobile manipulators with experiments on a UVMS. - Wilhelm Johan Marais; Oscar Pizarro; Stefan B. Williams (Frontiers Robotics AI, 2024)