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Iannitti, S., and K. M. Lynch, "Exact minimum control switch motion planning for the snakeboard", Intelligent Robots and Systems, 2003 IEEE/RSJ International Conference on, vol. 2: IEEE, pp. 1437–1443, 2003.
Iannitti, S., and K. M. Lynch, "Minimum control-switch motions for the snakeboard: A case study in kinematically controllable underactuated systems", Robotics, IEEE Transactions on, vol. 20, no. 6: IEEE, pp. 994–1006, 2004.