A Lie algebraic method of motion planning for driftless nonholonomic systems. - Ignacy Duleba; Wissem Khefifi (RoMoCo, 2005)

Pre-control form of the generalized Campbell-Baker-Hausdorff-Dynkin formula for affine nonholonomic systems. - Ignacy Duleba; Wissem Khefifi (Syst. Control. Lett., 2006)

Velocity space approach to motion planning of nonholonomic systems. - Ignacy Duleba; Wissem Khefifi (Robotica, 2007)

Layer, Lie algebraic method of motion planning for nonholonomic systems. - Ignacy Duleba; Wissem Khefifi; Iwona Karcz-Duleba (J. Frankl. Inst., 2012)