Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers. - Shishir Kolathaya; William Guffey; Ryan W. Sinnet; Aaron D. Ames (IEEE Robotics Autom. Lett., 2018)

Safety-Critical Manipulation for Collision-Free Food Preparation. - Andrew Singletary; William Guffey; Tamás G. Molnár; Ryan W. Sinnet; Aaron D. Ames (IEEE Robotics Autom. Lett., 2022)