- "Evaluation of a Large Scale Pervasive Embedded Network for Robot Path Planning". IEEE International Conference on Robotics and Automation. April 2006.[paper]
- "Physical Path Planning Using the GNATs". IEEE International Conference on Robotics and Automation. April 2005.[paper]
- "The GNATs -- Low-Cost Embedded Networks for Supporting Mobile Robots" (June 2004) Third International Multi-Robot Systems Workshop. March 2005. [paper]
- "Pervasive Embedded Networks for Supporting Multi-Robot Activities". AAAI-04 workhop on Sensor Networks. July 2004.
- "Distributed Path Planning for Robots in Dynamic Environments Using a Pervasive Embedded Network". 3rd International Conference on Autonomous Agents and Multi-Agent Systems. July 2004. [paper] [poster]
- "Pervasive Sensor-less Networks for Cooperative Multi-Robot Tasks". 7th International Symposium on Distributed Autonomous Robotic Systems. June 2004. [paper]
- "Navigation Networks: Biological Inspiration for Large-Scale Multi-Robot Navigation". Presented as a poster at the 2nd International Workshop on the Mathematics and Algorithms of Social Insects. December 2003. [extended abstract]