Patents
U.S. Patent # 5,908,458 - "System Architecture for Autonomous Excavation"

U.S. Patent # 5,953,977 - "Simulation Modeling of Non-Linear Hydraulic Actuator Response"

U.S. Patent # 5,978,504 and international - "Fast Planer Segmentation of Range for Mobile Robots"

U.S. Patent # 6,058,344 - "Automated System and Method for control of Movement Using Parameterized Scripts"

U.S. Patent # 6,076,030 - "Learning System and Method for Optimizing Control of Autonomous Earthmoving"

U.S. Patent # 6,085,858 -"Perception Based Dig Monitor"

U.S. Patent # 6,018,949 - "Method and Apparatus for Determining and Excavation Strategy

U.S. Patent # 6,167,336 and international- "Method and Apparatus for Determining and Excavation Strategy for a Front End Loader"

U.S. Patent #6,223,110 and international - "Software Architecture for autonomous Earthmoving Machinery"

U.S. Patent # 6,363,173 and international - "Incremental Recognition of a Three Dimensional Object"

U.S. Patent # 6,363,632 - "System for Autonomous Excavation and Truck Loading"

Publications
Stentz, A., Bares, J., Singh, S., and Rowe, P., "A Robotic Excavator for Autonomous Truck Loading," Autonomous Robots, Vol. 7, No. 2, September, 1999, pp. 175-186.

Krishna, M., and Bares, J., "Constructing Hydraulic Robot Models using Memory-based Learning," ASCE Journal of Aerospace Engineering, Vol. 12, No. 2, April, 1999, pp. 34-42.

Leger, P., Rowe, P., Bares, J., Boehmke, S., Stentz, A., "Obstacle detection and safeguarding for a high-speed autonomous hydraulic excavator," Proceedings of SPIE Mobile Robots XIII, Vol. 3525, November, 1998, pp. 146-156.