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Ramasamy S, Hatton RL.  2017.  Geometric Gait Optimization Beyond Two Dimensions. American Control Conference. :642–648.
Ramasamy S, Hatton RL.  2019.  The Geometry of Optimal Gaits for Drag-Dominated Kinematic Systems. IEEE Transactions on Robotics. 35:1014–1033.
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Ramasamy S, Hatton RL.  2016.  Soap-bubble Optimization of Gaits. The Proceedings of the IEEE Conference on Decision and Control. :1056–1062.