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"Toward Autonomous Free-Climbing Robots", Proceedings of the 2003 International Symposium of Robotics Research, Siena, Italy, October, 2003.
"Multi-Step Motion Planning for Free-Climbing Robots", Proceedings of the 2004 Workshop on the Algorithmic Foundations of Robotics, Utrecht/Zeist, The Netherlands, July, 2004.
"Motion Planning for a Three-Limbed Climbing Robot in Vertical Natural Terrain", Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, May, 2003.
"Free-Climbing with a Multi-Use Robot", Proceedings of the 2004 International Symposium on Experimental Robotics, Singapore, June, 2004.