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## Publications of Bruce R. Donald    :chronological  alphabetical  combined  bibtex listing:

Books

1. B. R. Donald and K. Lynch and D. Rus, Algorithmic and Computational Robotics: New Directions (2001), pp. 408, A. K. Peters, Boston
2. B. R. Donald and D. Kapur and J. Mundy, Symbolic and Numerical Computation for Artificial Intelligence (1992), pp. 369, Academic Press, Harcourt Jovanovich, London
3. J.~Baillieul and R.~Brockett and B.~R.~ Donald and others, Robotics, Symposia in Applied Mathematics, vol. 41 (1990), pp. 196, American Mathematical Society Press, Providence, RI
4. B. R. Donald, Error Detection and Recovery in Robotics, Lecture Notes in Computer Science, vol. 336 (1989), pp. 314, Springer-Verlag, New York

Papers Published

1. Jou, JD; Holt, GT; Lowegard, AU; Donald, BR, Minimization-Aware Recursive K (MARK ): A Novel, Provable Algorithm that Accelerates Ensemble-Based Protein Design and Provably Approximates the Energy Landscape, Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11467 LNBI (January, 2019), pp. 101-119, ISBN 9783030170820 [doi]  [abs]
2. Hallen, MA; Martin, JW; Ojewole, A; Jou, JD; Lowegard, AU; Frenkel, MS; Gainza, P; Nisonoff, HM; Mukund, A; Wang, S; Holt, GT; Zhou, D; Dowd, E; Donald, BR, OSPREY 3.0: Open-source protein redesign for you, with powerful new features., Journal of Computational Chemistry, vol. 39 no. 30 (November, 2018), pp. 2494-2507 [doi]  [abs]
3. Qi, Y; Martin, JW; Barb, AW; Thélot, F; Yan, AK; Donald, BR; Oas, TG, Continuous Interdomain Orientation Distributions Reveal Components of Binding Thermodynamics., Journal of Molecular Biology, vol. 430 no. 18 Pt B (September, 2018), pp. 3412-3426 [doi]  [abs]
4. Ojewole, AA; Jou, JD; Fowler, VG; Donald, BR, BBK* (Branch and Bound Over K*): A Provable and Efficient Ensemble-Based Protein Design Algorithm to Optimize Stability and Binding Affinity Over Large Sequence Spaces., Journal of Computational Biology : a Journal of Computational Molecular Cell Biology, vol. 25 no. 7 (July, 2018), pp. 726-739 [doi]  [abs]
5. Lavor, C; Liberti, L; Donald, B; Worley, B; Bardiaux, B; Malliavin, TE; Nilges, M, Minimal NMR distance information for rigidity of protein graphs, Discrete Applied Mathematics (April, 2018) [doi]  [abs]
6. Hallen, MA; Donald, BR, CATS (Coordinates of Atoms by Taylor Series): protein design with backbone flexibility in all locally feasible directions, Bioinformatics, vol. 33 no. 14 (July, 2017), pp. i5-i12 [doi]
7. Jain, S; Jou, JD; Georgiev, IS; Donald, BR, A critical analysis of computational protein design with sparse residue interaction graphs., PLoS computational biology, vol. 13 no. 3 (March, 2017), pp. e1005346 [doi]  [abs]
8. Ojewole, AA; Jou, JD; Fowler, VG; Donald, BR, BBK* (Branch and bound over K*): A provable and efficient ensemble-based algorithm to optimize stability and binding affinity over large sequence spaces, Lecture notes in computer science, vol. 10229 LNCS (January, 2017), pp. 157-172, ISBN 9783319569697 [doi]  [abs]
9. Zhou, Y; Donald, BR; Zeng, J, Parallel Computational Protein Design., Methods in molecular biology (Clifton, N.J.), vol. 1529 (January, 2017), pp. 265-277  [abs]
10. Ojewole, A; Lowegard, A; Gainza, P; Reeve, SM; Georgiev, I; Anderson, AC; Donald, BR, OSPREY Predicts Resistance Mutations Using Positive and Negative Computational Protein Design., Methods in molecular biology (Clifton, N.J.), vol. 1529 (January, 2017), pp. 291-306 [doi]  [abs]
11. Pan, Y; Dong, Y; Zhou, J; Hallen, M; Donald, BR; Zeng, J; Xu, W, cOSPREY: A Cloud-Based Distributed Algorithm for Large-Scale Computational Protein Design., Journal of Computational Biology, vol. 23 no. 9 (September, 2016), pp. 737-749 [doi]  [abs]
12. Gainza, P; Nisonoff, HM; Donald, BR, Algorithms for protein design., Current Opinion in Structural Biology, vol. 39 (August, 2016), pp. 16-26 [doi]  [abs]
13. Jou, JD; Jain, S; Georgiev, IS; Donald, BR, BWM*: A Novel, Provable, Ensemble-based Dynamic Programming Algorithm for Sparse Approximations of Computational Protein Design., Journal of Computational Biology, vol. 23 no. 6 (June, 2016), pp. 413-424 [doi]  [abs]
14. Hallen, MA; Donald, BR, comets (Constrained Optimization of Multistate Energies by Tree Search): A Provable and Efficient Protein Design Algorithm to Optimize Binding Affinity and Specificity with Respect to Sequence., Journal of Computational Biology, vol. 23 no. 5 (May, 2016), pp. 311-321 [doi]  [abs]
15. Hallen, MA; Jou, JD; Donald, BR, LUTE (Local unpruned tuple expansion): Accurate continuously flexible protein design with general energy functions and rigid-rotamer-like efficiency, Lecture notes in computer science, vol. 9649 (January, 2016), pp. 122-136, ISBN 9783319319568 [doi]  [abs]
16. Roberts, KE; Gainza, P; Hallen, MA; Donald, BR, Fast gap-free enumeration of conformations and sequences for protein design., Proteins: Structure, Function and Bioinformatics, vol. 83 no. 10 (October, 2015), pp. 1859-1877, ISSN 0887-3585 [doi]  [abs]
17. Paprotny, I; Levey, CG; Wright, PK; Donald, BR, Turning-rate selective control : A new method for independent control of stress-engineered MEMS microrobots, vol. 8 (January, 2013), pp. 321-328, ISBN 9780262519687  [abs]
18. Donald, BR; Levey, CG; Paprotny, I, Assembly of planar structures by parallel actuation of Mems microrobots, Technical Digest Solid State Sensors, Actuators, and Microsystems Workshop (January, 2008), pp. 202-207, ISBN 9780964002494  [abs]
19. Donald, BR; Levey, CG; McGray, CD; Paprotny, I; Rus, D, A steerable, untethered, 250 × 60 µm MEMS mobile micro-robot, Springer Tracts in Advanced Robotics, vol. 28 (January, 2007), pp. 337-356, ISSN 1610-7438, ISBN 9783540481102 [doi]  [abs]
20. L. Wang and R. Mettu and B. R. Donald, A Polynomial-Time Algorithm for {\em de novo} Protein Backbone Structure Determination from NMR Data, Journal of Computational Biology, vol. 13 no. 7 (2006), pp. 1276--1288
21. B. R. Donald and C. Levey and C. McGray and I. Paprotny and D. Rus, An Untethered, Electrostatic, Globally-Controllable MEMS Micro-Robot, Journal of Microelectromechanical Systems (2005)
22. L. Wang and R. Mettu and B. R. Donald, An Algebraic Geometry Approach to Protein Backbone Structure Determination from NMR Data, in Proceedings of the IEEE Computational Systems Bioinformatics Conference (CSB) (2005), pp. 235--246, Stanford, CA
23. B. R. Donald and C. Levey and C. McGray and I. Paprotny and D. Rus, A Steerable, Untethered, 250 $\times$ 60 $\mu$m MEMS Mobile Micro-Robot, in Proceedings of the 12th {\it International Symposium of Robotics Research (ISRR)} (2005), San Francisco, CA.
24. B. R. Donald, Plenary lecture: Algorithmic Challenges in Structural Molecular Biology and Proteomics, in Proceedings of the Sixth International Workshop on the Algorithmic Foundations of Robotics (WAFR) (2004), pp. 1--10, University of Utrecht, Utrecht/Zeist, The Netherlands
25. C. Langmead and B. R. Donald, High-Throughput 3D homology Detection via NMR Resonance Assignment, in Currents in Computational Molecular Biology, 2004, Eighth Annual International Conference on Research in Computational Molecular Biology (RECOMB), edited by A. Gramada and P. Bourne (2004), pp. 522, San Diego
26. A. Yan and C. Langmead and B. R. Donald, A Probability-Based Similarity Measure for Saupe Alignment Tensors with Applications to Residual Dipolar Couplings in NMR Structural Biology, in Currents in Computational Molecular Biology, 2004, Eighth Annual International Conference on Research in Computational Molecular Biology (RECOMB), edited by A. Gramada and P. Bourne (2004), pp. 437--438, San Diego
27. L. Wang and B. R. Donald, Analysis of a Systematic Search-Based Algorithm for Determining Protein Backbone Structure from a Minimal Number of Residual Dipolar Couplings, in Proceedings of the IEEE Computational Systems Bioinformatics Conference (CSB) (2004), pp. 319--330, Stanford, CA
28. Langmead, CJ; Donald, BR, 3D structural homology detection via unassigned residual dipolar couplings., in Proceedings of the IEEE Computer Society Bioinformatics Conference (CSB), Proceedings / IEEE Computer Society Bioinformatics Conference. IEEE Computer Society Bioinformatics Conference, vol. 2 (January, 2003), pp. 209-217, Stanford, ISSN 1555-3930  [abs]
29. Wang, L; Mettu, RR; Lilien, R; Donald, BR, An exact algorithm for determining protein backbone structure from NH residual dipolar couplings, in Proceedings of the IEEE Computer Society Bioinformatics Conference (CSB), Proceedings of the 2003 IEEE Bioinformatics Conference, CSB 2003 (January, 2003), pp. 611-612, Stanford, ISBN 0769520006 [doi]  [abs]
30. R. O'Neil and R. Lilien and B. R. Donald and R. Stroud and A. Anderson, Crystal structure of Dihydrofolate Reductase-Thymidylate Synthase (DHFR-TS) from {{\em Cryptosporidium hominis}} (2003)
31. B. R. Donald and C. Levey and C. McGray and D. Rus and M. Sinclair, Power Delivery and Locomotion of Untethered Micro-Actuators, Jour. of Microelectromechanical Systems, vol. 10 no. 6 (2003), pp. 947--959
32. B. R. Donald and C. Levey and C. McGray and D. Rus and M. Sinclair, Untethered Micro-Actuators for Autonomous Micro-robot Locomotion: Design, Fabrication, Control, and Performance, in Proceedings of the 11th {\it International Symposium of Robotics Research} (2003), Siena, Italy
33. R. Lilien and A. Anderson and B. Donald, Modeling Protein Flexibility for Structure-Based Active Site Redesign, in Currents in Computational Molecular Biology, The Sixth Annual International Conference on Research in Computational Molecular Biology (RECOMB), edited by L. Florea and others (2002), pp. 122-123, Washington DC
34. R. Lilien and A. Anderson and B. R. Donald, Modeling of Protein Flexibility for Computational Active Site Redesign, in The 16th Annual National M.D./Ph.D.~Conference (2001)
35. C. Bailey-Kellogg and A. Widge and J. J. {Kelley III} and M. J. Berardi and J. H. Bushweller and B. R. Donald, The NOESY Jigsaw: Automated Protein Secondary Structure and Main-Chain Assignment from Sparse, Unassigned NMR Data, in The Fourth Annual International Conference on Research in Computational Molecular Biology ({RECOMB-2000}) (2000), pp. 33--44
36. C. Bailey-Kellogg and F. Zhao and B. R. Donald, Spatial Aggregation in Scientific Data Mining, in Proceedings of the First SIAM Conference on Computational Science and Engineering (2000), Washington, DC
37. B. R. Donald and L. Gariepy and D. Rus, Experiments in Constrained Prehensile Manipulation: Distributed Manipulation with Ropes, in Proceedings of the International Symposium on Experimental Robotics ISER (1999), Sydney, Australia
38. K.-F.~B{\"o}hringer and B.~R.~Donald and N.~C.~MacDonald, {\em Programmable Vector Fields for Distributed Manipulation, with Applications to MEMS Actuator Arrays and Vibratory Parts Feeders}, International Journal of Robotics Research, vol. 18 no. 2 (1999)
39. K.-F.~B{\"o}hringer and B.~R.~Donald and F.~Lamiraux and L.~Kavraki, Part Orientation with One or Two Stable Equilibria Using Programmable Force Fields, in IEEE International Conference on Robotics and Automation, Workshop on Distributed Manipulation (1999)
40. K.-F. B{\"o}hringer and B. R. Donald and F. Lamiraux and L. Kavraki, Part Orientation with One or Two Stable Equilibria Using Programmable Vector Fields, in IEEE International Conference on Robotics and Automation, Workshop on Distributed Manipulation (1999), Detroit
41. K.-F.~B{\"o}hringer and B.~R.~Donald and F.~Lamiraux and L.~Kavraki, A Single Universal Force Field Can Uniquely Pose Any Part Up To Symmetry, in 9th International Symposium of Robotics Research (ISRR) (1999)
42. B. R. Donald and L. Gariepy and D. Rus, Experiments in Constrained Prehensile Manipulation: Distributed Manipulation with Ropes, in IEEE International Conference on Robotics and Automation, Workshop on Distributed Manipulation (1999), Detroit
43. J.~Suh and B.~Darling and K.-F.~B{\"o}hringer and B.~R.~Donald and H.~Baltes and G.~Kovacs, CMOS Integrated Organic Ciliary Actuator Array as a General-Purpose Micromanipulation Tool, in IEEE International Conference on Robotics and Automation, Workshop on Distributed Manipulation (1999)
44. K.-F.~B{\"o}hringer and B.~R.~Donald, Micro Contacts and Micro Manipulation with MEMS Actuator Arrays, in IEEE International Conference on Robotics and Automation, Workshop on Modeling, Contact Analysis, and Simulation of Mechanical Systems in Robotics and Manufacturing (1998)
45. K.-F. B{\"o}hringer and B. R. Donald, Algorithmic MEMS, in Proceedings of the 3rd International Workshop on the Algorithmic Foundations of Robotics WAFR (1998), Houston, TX
46. K.-F.~B{\"o}hringer and B.~R.~Donald and D.~Halperin, {\em On the Area Bisectors of a Polygon}, in Second CGC Workshop on Computational Geometry (October, 1997), Durham, NC
47. K.-F.~B{\"o}hringer and B.~R.~Donald and D.~Halperin, On the Area Bisectors of a Polygon, Discrete and Computational Geometry, vol. 22 (1997), pp. 269--285
48. K.-F.~B{\"o}hringer and B.~R.~Donald and D.~Halperin, The Area Bisectors of a Polygon and Force Equilibria in Programmable Vector Fields, in {\em Proc.~$13^{{\rm th}}$ ACM Symposium on Computational Geometry} (1997), pp. 457--459, Nice, France
49. K.-F.~B{\"o}hringer and B.~R.~Donald and N. MacDonald, Upper and lower bounds for programmable vector fields with applications to MEMS and vibratory plate parts feeders, in Proc.~{\em International Workshop on the Algorithmic Foundations of Robotics (WAFR)} (July, 1996), Toulouse, France
50. K.-F.~B{\"o}hringer and B.~R.~Donald and N.~C.~MacDonald, Classification and Lower Bounds for MEMS Arrays and Vibratory Parts Feeders: What Programmable Vector Fields Can (and Cannot) Do, in {\em IEEE International Conference on Robotics and Automation (ICRA)} (April, 1996), Minneapolis, Minnesota
51. A. Briggs and B. R. Donald, Robust Geometric Algorithms for Sensor Planning, in Proceedings of the International Workshop on the Algorithmic Foundations of Robotics WAFR (1996), Toulouse, France
52. B.~R.~Donald, Information Invariants in Robotics, Artificial Intelligence, vol. 72 (January, 1995), pp. 217--304
53. K.-F. B{\"o}hringer and R. Brown and B. R. Donald and J. Jennings and D. Rus, Distributed Robotic Manipulation: Experiments in Minimalism, in {\em International Symposium on Experimental Robotics} (Experimental Robotics IV, Lecture Notes in Control and Information Sciences 223; ed. O. Khatib et al., Springer Verlag (Berlin) 1997. pp. 11-25) (1995), Stanford, CA
54. D. Rus and B. R. Donald and J. Jennings, Moving Furniture with Teams of Autonomous Mobile Robots, in Proc. IEEE/Robotics Society of Japan International Workshop on Intelligent Robots and Systems (1995), pp. 235--242, Pittsburgh, PA
55. B. R. Donald, Distributed Robotic Manipulation: Experiments in Minimalism, in Proceedings of the International Symposium on Experimental Robotics (1995), Stanford, CA
56. K.-F.~B{\"o}hringer and B.~R.~Donald and Noel C. MacDonald and R. Mihailovich, A Theory of Manipulation and Control for Microfabricated Actuator Arrays, in Proc.~$7^{{\rm th}}$ IEEE Workshop on Micro Electro Mechanical Systems ({\sc MEMS'94}) (January, 1994), Kanagawa, Japan
57. B.~R.~Donald and J.~Jennings and D.~Rus, Information Invariants for Distributed Manipulation, in {\em The First Workshop on the Algorithmic Foundations of Robotics (WAFR)} (1994), San Fransisco, CA
58. B. R. Donald and D. Pai, The Motion of Planar Compliantly-Connected Rigid Bodies in Contact, with Applications to Automatic Fastening, International Journal of Robotics Research, vol. 12 no. 4 (1993), pp. 307--338
59. R. Brown and P. Chew and B. R. Donald, Mobile Robots, Map-making, Shape Metrics, and Localization, in Proceedings of the International Association of Science and Technology for Development (IASTED) International Conference on Robotics and Manufacturing (1993), Oxford, England
60. J. Jennings and D. Rus and B. R. Donald, Experimental Information Invariants for Cooperating Autonomous Mobile Robots, in Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI) Workshop on Dynamically Interacting Robots (1993), Chambery, France
61. B. R. Donald and J. Jennings and D. Rus, Towards a Theory of Information Invariants for Cooperating Autonomous Mobile Robots, in Proceedings of the International Symposium of Robotics Research ISRR (1993), Hidden Valley, PA
62. B. R. Donald, On Planning: What is to be Done?, in Special Issue on AI and Robotics, Communication and Cognition-Artificial Intelligence, vol. 9 no. 1 (1992), pp. 89--132
63. B. R. Donald, Robot Motion Planning, IEEE Trans. on Robotics and Automation, vol. 8 no. 2 (1992)
64. J. Canny and B. R. Donald and G. Ressler, A Rational Rotation Method for Robust Geometric Algorithms, in Proc. ACM Symposium on Computational Geometry (1992), pp. 251--260, Berlin
65. B.~R.~Donald and J.~Jennings, Perceptual Limits, Perceptual Equivalence Classes, and a Robot's Sensori-Computational Capabilities, in IEEE/Robotics Society of Japan International Workshop on Intelligent Robots and Systems (November, 1991), pp. 1397--1405, Osaka, Japan
66. J. Jennings and B. R. Donald, Programming Autonomous Agents: A theory of Perceptual Equivalence, in Proceedings of the 1st AAAI Fall Symposium on Sensory Aspects of Robotic Intelligence (1991), Asilomar, CA
67. B. R. Donald and P. Xavier, A Provably Good Approximation Algorithm for Optimal-Time Trajectory Planning, in Proc. IEEE International Conference on Robotics and Automation (1989), pp. 958--964, Scottsdale, AZ
68. Donald, BR, The complexity of planar compliant motion planning Under Uncertainty, Proceedings of the 4th Annual Symposium on Computational Geometry, SCG 1988 (January, 1988), pp. 309-318, ISBN 0897912705 [doi]  [abs]
69. B. R. Donald, The Complexity of Planar Compliant Motion Planning with Uncertainty, in Proc. 4th ACM Symposium on Computational Geometry (1988), pp. 309--318, Urbana. IL
70. Canny, J; Donald, B, Simplified voronoi diagrams, in Proc. Third ACM Symposium on Computational Geometry, Proceedings of the 3rd Annual Symposium on Computational Geometry, SCG 1987 (October, 1987), pp. 153-161, Waterloo, Ontario, ISBN 0897912314 [doi]  [abs]
71. B. R. Donald, A Theory of Error Detection and Recovery: Robot Motion Planning with Uncertainty in the Geometric Models of the Robot and Environment, in Proceedings of the International Workshop on Geometric Reasoning (1986), Oxford University, England
72. Donald, BR, On motion planning with six degrees of freedoms solving the intersection problems in configuration space, in Proc. IEEE International Conference on Robotics and Automation, Proceedings Ieee International Conference on Robotics and Automation (January, 1985), pp. 536-541, St. Louis, Missouri, ISBN 0818606150 [doi]  [abs]
73. B. R. Donald, The Mover's Problem in Automated Structural Design, in Proc. Harvard Computer Graphics Conference (1983), Cambridge, MA

Papers Accepted

1. C. Langmead and B. R. Donald, A Framework for Automated NMR Resonance Assignments and 3D Structural Homology Detection (2004), Ventura, CA ({\poster} {\it The Gordon Conference on Computational Methods in Biomolecular NMR}.)
2. L. Wang and R. Mettu and R. Lilien and A. Yan and B. R. Donald, Exact Solutions for Internuclear Vectors and Dihedral Angles from Two RDCs and Their Application in a Systematic Search Algorithm for Determining Protein Backbone Structure (2004), Ventura, CA ({\poster} {\it The Gordon Conference on Computational Methods in Biomolecular NMR}.)
3. A. Anderson and R. Lilien and V. Popov and B. R. Donald, Ensembles of Active Site Conformations Allow Structure-Based Redesign and Drug Design (2003), New Orleans ({\poster} {\it 225th American Chemical Society National Meeting}.)
4. C. J. Langmead and B. R. Donald, Time-frequency Analysis of Protein NMR Data (2000) ({\poster} {\it The 8th Int'l Conf. on Intelligent Sys. for Mol. Biol. ({ISMB-2000})}.)
5. C. Bailey-Kellogg and A. Widge and J. J. {Kelley III} and M. J. Berardi and J. H. Bushweller and B. R. Donald, The NOESY Jigsaw: Automated Protein Secondary Structure and Main-Chain Assignment from Sparse, Unassigned NMR Data (2000) ({\poster} {\it The 8th Int'l Conf. on Intelligent Sys. for Mol. Biol. ({ISMB-2000})}.)
6. R. Lilien and M. Sridharan and X. Huang and J. H. Bushweller and B. R. Donald, Computational Screening Studies for Core Binding Factor Beta: Use of Multiple Conformations to Model Receptor Flexibility (2000) ({\poster} {\it The 8th Int'l Conf. on Intelligent Sys. for Mol. Biol. ({ISMB-2000})}.)
7. B. R. Donald and J. Jennings and D. Rus, Cooperating Autonomous Mobile Robots: Theory and Experiments (1994), MIT, Cambridge, MA (Poster, {\it NSF Design and Manufacturing Grantees Conference}.)

Other

1. Ryan H. Lilien and Mohini Sridharan and Bruce R. Donald, {Identification of Novel Small Molecule Inhibitors of Core-Binding Factor Dimerization by Computational Screening against NMR Molecular Ensembles} no. TR2004-492 (2004), Hanover, NH [pdf]
2. Christopher J. Langmead and Bruce R. Donald, {An Improved Nuclear Vector Replacement Algorithm for Nuclear Magnetic Resonance Assignment} no. TR2004-494 (2003), Hanover, NH [pdf]

Edited journal or collection PUBLISHED

1. K.-F.~B{\"o}hringer and B.~R.~Donald and F.~Lamiraux and L.~Kavraki, Distributed Manipulation, edited by K.~B{\"o}hringer et al. (2000), Kluwer Academic Publishing
2. B.~R.~Donald and L.~Gariepy and D.~Rus, Distributed Manipulation, edited by K.~B{\"o}hringer et al. (2000), Kluwer Academic Publishing
3. J.~Suh and R.~B.~Darling and K.-F.~B{\"o}hringer and B.~R.~Donald and H.~Baltes and G.~Kovacs, Distributed Manipulation, edited by K.~B{\"o}hringer et al. (2000), Kluwer Academic Publishing
4. K.-F. B{\"o}hringer and B. R. Donald and F. Lamiraux and L. Kavraki, A Single Universal Force Field Can Uniquely Orient Non-symmetric Parts, in Robotics Research, edited by J. Hollerbach and D. Koditschek (2000), pp. 395--402, Springer-Verlag, London
5. B. R. Donald and L. Gariepy and D. Rus, Experiments in Constrained Prehensile Manipulation: Distributted Manipulation with Ropes, in Experimental Robotics VI, Lecture Notes in Control and Information Sciences, edited by P. Corke et al., vol. 250 (2000), pp. 25--36, Springer-Verlag
6. K.-F.~B{\"o}hringer and B.~R.~Donald, Robotics: The Algorithmic Perspective, edited by P.~Agarwal et al. (1998), pp. 1--20, A.~K.~Peters
7. K.-F. B{\"o}hringer and B. R. Donald and N. MacDonald, Upper and lower bounds for programmable vector fields with applications to MEMS and vibratory plate parts feeders, in Algorithms for Robotic Motion and Manipulation, edited by J. P. Laumond and M. Overmars (1997), pp. 255--276, A. K. Peters, Wellesley, MA
8. A.~Briggs and B.~R.~Donald, Robust geometric algorithms for sensor planning, in Algorithms for Robotic Motion and Manipulation, edited by J.~P.~Laumond and M.~Overmars (1997), pp. 197--212, A.~K.~Peters, Wellesley, MA
9. B. R. Donald and J. Jennings and D. Rus, Information Invariants for Distributed Manipulation, in Algorithmic Foundations of Robotics, edited by K. Goldberg et al. (1995), pp. 431--458, A. K. Peters, Boston, MA
10. B. R. Donald and D. Pai, Symbolic Methods for the Simulation of Planar Mechanical Systems in Design, in Symbolic and Numerical Computation for Artificial Intelligence, edited by B. Donald et al. (1992), pp. 245--258, Academic Press, Harcourt Jovanovich, London
11. J. Canny and B. R. Donald, Simplified Voronoi Diagrams, in Autonomous Robot Vehicles (1990), pp. 272--289, Springer-Verlag, New York
12. B. R. Donald, A Geometric Approach to Error Detection and Recovery for Robot Motion Planning with Uncertainty, in Geometric Reasoning (1989), pp. 223--274, MIT Press, Cambridge

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