New scheme for image space path planning incorporating CAD-based recognition methods for visual servoing. - Zahra Ziaei; Reza Oftadeh; Jouni Mattila (RAM, 2013)

Vision-based path coordination for multiple mobile robots with four steering wheels using an overhead camera. - Zahra Ziaei; Reza Oftadeh; Jouni Mattila (AIM, 2015)

Vision-Based Trajectories Planning for Four Wheels Independently Steered Mobile Robots with Maximum Allowable Velocities. - Zahra Ziaei; Reza Oftadeh; Jouni Mattila (TAROS, 2015)