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  • Distance Computation in a Curved World (with Colin Turnbull), rejected from Mathematics of Surfaces VIII. [ms.ps.gz: 54300 bytes compressed postscript].
  • Computing Distances Between NURBS-defined Convex Objects (with Colin Turnbull), ICRA-98. [icra98.ps.gz: 88615 bytes compressed postscript].
  • A Comparison of Two Fast Algorithms for Computing the Distance between Convex Polyhedra, IEEE Trans. Robotics and Automation 13(6):915-920, December 1997.
  • Active Motion Planning and Collision Avoidance for Redundant Manipulators (with Yonghong Bu). ISATP 97, August 1997. [isatp97.ps.gz: 88333 bytes compressed postscript].
  • Enhancing GJK: Computing Minimum and Penetration Distances between Convex Polyhedra. Int Conf Robotics and Automation, April 1997. [icra97.ps.gz: 56438 bytes compressed postscript].
  • Motion Planning and Collision Avoidance with Complex Geometry (with Caigong Qin). Int Conf Manufacturing Automation, April 1997. [icma97.ps.gz: 111518 bytes compressed postscript].
  • Dealing with Geometric Complexity in Motion Planning, part of the Workshop on Practical Motion Planning in Robotics which was held in conjunction with ICRA 96, Minneapolis, 23rd April 1996. [icra96.ps.gz: 271592 bytes compressed postscript].
  • Towards Efficient Motion Planning for Manipulators with Complex Geometry, ISATP'95, August 1995. [isatp95.ps.gz: 131069 bytes compressed postscript].
  • Path Planning and Collision Avoidance for Redundant Manipulators in Three Dimensions (with Alistair McLean), Int. Conf. Intelligent Autonomous Systems, Karlsruhe, March 1995. [karlsruhe95.ps.gz: 309043 bytes compressed postscript].
  • Obstacle Avoidance and Path Planning, Industrial Robot 21(5), 1994.
  • Advanced Guided Vehicles: Aspects of the Oxford AGV Project (edited, with Penny Probert), World Scientific Press, 1994. ISBN 981-02-1393-X. Catalogue entry available. [agvbook-initial.ps.gz: contents, preface, introduction, 39428 bytes compressed postscript].
  • Effective Path Planning and Collision Avoidance for Redundant Manipulators (with Alistair McLean), Int. Conf. Advanced Robotics and Comp. Vision, Singapore, November 1994. [icarcv.ps.gz: 174066 bytes compressed postscript].
  • A Formal Semantics for Multiple Vehicle Task and Motion Planning (with Neil Rugg-Gunn), Int. Conf. Rob. & Automation, May 1994. [icra94.ps.gz: 46983 bytes compressed postscript].
  • Direct Drawing from CSG Models with Hidden-Line Removal, Constructive Solid Geometry `94, Winchester, March 1994. (Information Geometers, ISBN 1-874728-05-4.)
  • Snake-based Path Planning for Redundant Manipulators (with Alistair McLean), Int. Conf. Rob. & Automation, May 1993.
  • Sonar Localisation for Mobile Vehicles: A Model-Based Approach (with Bill Triggs), `ETFA 92: IEEE Workshop on Emerging Technologies and Factory Automation', Melbourne, August 1992.
  • Refinement Methods for Geometric Bounds in Constructive Solid Geometry (with Chee Yap), ACM Trans. Graphics, January 1992. [cy.ps.gz: 109857 bytes compressed postscript].
  • Motion Planning for Non-Holonomic Industrial Robot Vehicles (with Tony Hague), Proceedings IROS-91, Osaka, November 1991.
  • Approximation Hierarchies and S-bounds, ACM/Siggraph Symposium on Solid Modeling Foundations and CAD/CAM Applications, Austin, June 1991.
  • Experiments with a Rule-Based Robot Palletiser (with Jian Peng), EURISCON `91, Corfu, June 1991.
  • Efficient Bounds in Constructive Solid Geometry, IEEE Computer Graphics and Applications 11(3), May 1991.
  • Path Planning for the Oxford AGV (with Hague), IEEE Intl. Workshop on Intelligent Motion Control, Istanbul, August 1990.
  • The Oxford Robot World Model (with Bill Triggs), NATO ASI on Expert Systems and Robotics, Corfu, July 1990.
  • Collision Detection by Four-Dimensional Intersection Testing, IEEE Trans. Robotics and Automation 6(3), June 1990. [fourd.ps.gz: 105929 bytes compressed postscript].
  • Using Moments to Plan Paths for the Oxford AGV (with Tony Hague and Mike Brady), IEEE Conf. Robotics and Automation, Cincinatti, May 1990.
  • Using Space-Time for Collision Detection: Solving the General Case, IMA Conf. Robotics: Applied Mathematics and Computational Aspects, Loughborough, July 1989. (Oxford University Press, ISBN 0-19-853649-6.)
  • Efficient Intersection Tests for Objects Defined Constructively, International Journal Robotics Research 8(1), February 1989. [sb.ps.gz: 138811 bytes compressed postscript].
  • Organising Geometric Computations for Space Telerobotics, NASA Conference on Space Telerobotics, Pasadena, January 1989.
  • A Geometric Database for the Oxford Autonomous Guided Vehicle, NATO Advanced Studies Workshop on CAD Based Programming for Sensory Robots, Castelvecchio Pascoli, July 1988 (Published by Springer-Verlag, Ref. F-50).
  • ROBMOD: A Geometry Engine for Robotics, (with Jon Aylett), IEEE Int. Conf. Robotics and Automation, Philadelphia, April 1988. [icra88.ps.gz: 54380 bytes compressed postscript].
  • Progress towards a system that can Acquire Pallets and Clean Warehouses (with Brady et al). In Fourth Int. Symp. Robotics Research, August 1987.
  • Augmenting the RAPT robot language, (with Pat Ambler and David Corner), NATO ASW on Languages for Sensor-Based Control in Robotics, Castelvecchio Pascoli, September 1986. (Published by Springer-Verlag, Ref. F-29.)
  • Determining the Minimum Translational Distance between Two Convex Polyhedra (with Bob Culley). IEEE Conf. Robotics and Automation, San Francisco, April 1986. [mtd.ps.gz: 44314 bytes compressed postscript].
  • A Study of the Clash Detection Problem in Robotics, IEEE Conf. Robotics and Automation, St Louis, March 1985. [icra85.ps.gz: 70861 bytes compressed postscript].
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