• James P. Ostrowski, Jaydev P. Desai and Vijay Kumar, "Optimal gait selection for nonholonomic locomotion systems". International Journal of Robotics Research, Vol. 19, No. 3, pp. 225-237, 2000.
• Jaydev P. Desai and Vijay Kumar, "Motion planning for cooperating mobile manipulators". Journal of Robotic Systems, Vol. 10, pp. 557-579, October 1999.
• Jaydev P. Desai, Milos Zefran and Vijay Kumar, "Human manipulation tasks with friction assisted grasping". Advanced Robotics, Vol.13, No.4, pp. 485-507, 1998.

Symposiums and Technical Reports
 

• Jaydev P. Desai and Robert D. Howe, "Minimizing interaction forces with minimum impedance control", MEM Technical Report, MEM-2000-R-001, Drexel University, Philadelphia, PA 19104.
• Thomas Sugar, Jaydev P. Desai, Vijay Kumar and James P. Ostrowski, "Coordination of Multiple Mobile Manipulators". Ro.Man.Sy 2000, Poland.
• Jaydev P. Desai, Milos Zefran and Vijay Kumar, "A geometric approach to second order kinematic analysis". The Sixth International Symposium on Advances in Robot Kinematics, June 29th-July 4th, 1998, Austria.
• M. Zefran, Jaydev P. Desai and Vijay Kumar, "Continuous motion plans for robotic systems with changing dynamic behavior". Workshop on Algorithmic Foundations of Robotics (WAFR), Toulouse, France, July 3-5, 1996.
• Jaydev P. Desai and Vijay Kumar, "Optimal motion plans for cooperating nonholonomic mobile manipulators in an environment with obstacles". GRASP Laboratory Technical Report 403, University of Pennsylvania, Philadelphia, PA, February, 1996.

Conferences
 

• Jaydev P. Desai, Vijay Kumar, and James P. Ostrowski, "Control of changes in formation for a team of mobile robots". IEEE International Conference on Robotics and Automation, Detroit, May 1999.
• Jaydev P. Desai, Jim Ostrowski and Vijay Kumar, "Controlling formations of multiple mobile robots". IEEE International Conference on Robotics and Automation, Belgium, May 1998.
• Jaydev P. Desai and Vijay Kumar, "Experimental investigation of planar two-arm friction assisted grasping tasks". Sixth Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Dallas, TX, November 1997.
• Jaydev P. Desai, Milos Zefran and Vijay Kumar, "Two arm manipulation tasks with friction assisted grasping". IEEE-RSJ International Conference on Intelligent Robots and Systems, Grenoble, France September 1997.
• Jaydev P. Desai and Vijay Kumar, "Nonholonomic motion planning for multiple mobile manipulators". IEEE International Conference on Robotics and Automation, Albuquerque, NM, April 20 - 25, 1997.
• Jim Ostrowski, Jaydev P. Desai and Vijay Kumar, "Optimal gait selection for nonholonomic locomotion systems". IEEE International Conference on Robotics and Automation, Albuquerque, NM, April 20-25, 1997.
• Jaydev P. Desai, C. C. Wang, M. Zefran and Vijay Kumar, "Motion Planning for multiple mobile manipulators". IEEE International Conference on Robotics and Automation, Minneapolis, MN, April 1996.
• M. Zefran, Vijay Kumar, Gregory Garvin and Jaydev P. Desai, "Experimental investigation of human two-arm manipulation". International Conference on Mechanics in Medicine and Biology, 1996.
• M. Zefran, Vijay Kumar, Jaydev P. Desai and E. A. Henis, "Two-arm manipulation: What can we learn by studying humans?" IEEE-RSJ International Conference on Intelligent Robots and Systems, Pittsburgh, PA, August 1995.