Sanfelice R.G, Frazzoli E..  2008.  A Hybrid Control Framework for Robust Maneuver-based motion planning. Proc. 27th American Control Conference. :2254–2259.

Sanfelice R.G, Yong S.Z, Frazzoli E..  2014.  On Minimum-time Paths of Bounded Curvature with Position-dependent Constraints. Automatica. 50:537–546.

Sanfelice R.G, Yong S.Z, Frazzoli E..  2013.  On Minimum-time Paths of Bounded Curvature with Position-dependent Constraints.

Karaman S., Sanfelice R.G, Frazzoli E..  2008.  Optimal Control of Mixed Logical Dynamical Systems with Linear Temporal Logic Specifications. Proc. 47th IEEE Conference on Decision and Control. :2117–2122.

Sanfelice R.G, Frazzoli E..  2008.  On the optimality of {D}ubins paths across heterogeneous terrain. Hybrid Systems: Computation and Control. 4981:457-470.