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Hatton RL, Knepper RA, Choset H, Rollinson D, Gong C, Galceran E.  2013.  Snakes on a Plan: Toward Combining Planning and Control. Proceedings of the IEEE International Conference on Robotics and Automation.
Hatton RL, Choset H.  2010.  Sidewinding on Slopes. Proceedings of the IEEE International Conference on Robotics and Automation. :691–696.