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"An Architecture for Online Affordance-based Perception and Whole-body Planning", Journal of Field Robotics (JFR), vol. 32, issue 2, 10/2014.
"Fast Scheduling of Robot Teams Performing Tasks with Temporospatial Constraints", IEEE Transactions on Robotics (T-RO), vol. 34, issue 1, pp. 220-239, 02/2018.