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2016. Geometric Visualization of Self-Propulsion in a Complex Medium. Physical Review Letters. 110:078101.
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2013. Geometric Maneuverability, with Applications to Low Reynolds Number Swimming. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.
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2011. Geometric Motion Planning: The Local Connection, Stokes' Theorem, and the Importance of Coordinate Choice. International Journal of Robotics Research. 30:988-1014.
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2011. Generating Gaits for Snake Robots: Annealed Chain Fitting and Keyframe Wave Extraction. Autonomous Robots, Special Issue on Locomotion. 28:271–281.
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2010. Geometric Swimming at Low and High Reynolds Numbers. IEEE Transactions on Robotics. 29:615–624.
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2013. Geometric Gait Optimization Beyond Two Dimensions. American Control Conference. :642–648.
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2017. The Geometry of Optimal Gaits for Drag-Dominated Kinematic Systems. IEEE Transactions on Robotics. 35:1014–1033.
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