1. Computing camera viewpoints in a robot work-cell Abrams, Steven; Allen, Peter K.; Tarabanis, Konstantinos A. 1996 Articles Robotics
2. CAD model acquisition using BSP trees Reed, Michael K.; Allen, Peter K.; Abrams, Steven 1995 Articles Computer science
3. Swept volumes and their use in viewpoint computation in robot work-cells Abrams, Steven; Allen, Peter K. 1995 Articles Robotics
4. Dynamic sensor planning Abrams, Steven; Allen, Peter K.; Tarabanis, Konstantinos A. 1993 Articles Robotics
5. Sensor planning in an active robotic work cell Abrams, Steven; Allen, Peter K. 1992 Articles RoboticsArtificial intelligence