Avoiding Dead Ends in Real-Time Heuristic Search. - Bence Cserna; William J. Doyle; Jordan S. Ramsdell; Wheeler Ruml (AAAI, 2018)

Safe Temporal Planning for Urban Driving. - Bence Cserna; William J. Doyle; Tianyi Gu 001; Wheeler Ruml (SafeAI@AAAI, 2019)

Revisiting Suboptimal Search. - Jingwei Chen; Nathan R. Sturtevant; William J. Doyle; Wheeler Ruml (SOCS, 2019)