K. Kant and S. Zucker, “Towards Efficient Trajectory Planning: The Path-Velocity Decomposition,” The International Journal of Robotics Research, Vol. 5, No. 3, 1986, pp. 72-89. doi:10.1177/027836498600500304
 T. Tsubouchi, K. Hiraoka, T. Naniwa and S. Arimoto, “A Mobile Robot Navigation Scheme for an Environment with Multiple Moving Obstacles,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots, Raleigh, 7-10 July 1992, pp. 1791-1798.
 T. Fraichard and C. Laugier, “Path-Velocity Decomposition Revisited and Applied to Dynamic Trajectory Planning,” Proceedings of the IEEE International Conference on Robotics and Automation, Atlanta, 2-6 May 1993, pp. 40-45.
 N. Kehtarnavaz and N. Griswold, “Establishing Collision Zones for Obstacles Moving with Uncertainty,” Computer Vision, Graphics and Image Processing, Vol. 49, No. 1, 1990, pp. 95-103. doi:10.1016/0734-189X(90)90165-R
 J. Ortega and E. Camacho, “Mobile Robot Navigation in a Partially Structured Static Environment Using Neural Predictive Control,” Control Engineering Practice, Vol. 4, No. 12, 1996, pp. 1669-1679. doi:10.1016/S0967-0661(96)00184-0
 C. Yung and N. Ye, “An Intelligent Mobile Vehicle Navigator Based on Fuzzy Logic and Reinforcement Learning,” IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, Vol. 29, No. 2, 1999, pp. 314-321.
 S. Koenig and R. Simmons, “Unsupervised Learning of Probabilistic Models for Robot Navigation,” IEEE International Conference on Robotics Automation, Minneapolis, 22-28 April 1996, pp. 2301-2308.
 S. Thrun, “Probabilistic Algorithms and the Interactive Muesuem Tour-Guide Robot Minerva,” International Journal of Robotics Research, Vol. 19, No. 11, 2000, pp. 972-999. doi:10.1177/02783640022067922
 C.-H. Tsai, J.-S. Lee and J.-H. Chuang, “Path Planning of 3-D Objects Using a New Workspace Model,” IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews, Vol. 31, No. 3, 2001, pp. 420-425.
 E. Bachmann, I. Duman, U. Usta, R. McGhee, X. Yun and J. Zyda, “Orientation Tracking for Humans and Robots Using Inertial Sensors,” International Symposium on Computational Intelligence in Robotics and Automation, Monterey, 8-9 November 1999, pp. 187-194.
 J. Marins, X. Yun, E. Bachmann, R. McGhee and J. Zyda, “An Extended Kalman Filter for Quaternion-Based Orientation Estimation Using Marg Sensors,” International Conference on Intelligent Robots and Systems, Maui, 29 October-3 November 2001, pp. 2003-2011.