Computer Science Assistive Technology Laboratory
Department of Computer Science
Utah State University

• Publications:
  • 2011
    • Kulyukin, V., Crandall, W., and Coster, D. (2011). Efficiency or Quality of Experience: A Laboratory Study of Three Eyes-Free Touchscreen Menu Browsing User Interfaces for Mobile Phones. To appear in The Open Rehabilitation Journal.
    • Kutiyanawala, A., Kulyukin, V., and Nicholson, J. (2011). Teleassistance in Accessible Shopping for the Blind . To appear in Proceedings of the the 2011 International Conference on Internet Computing ( ICOMP 2011), July 18-21, 2011, Las Vegas, USA. (pdf) (YouTube 1) (YouTube 2) (YouTube 3) (YouTube 4)
    • Kutiyanawala, A., Kulyukin, V., and Nicholson, J. (2011). Toward Real Time Eyes-Free Barcode Scanning on Smartphones in Video Mode . To appear in Proceedings of the 2011 Rehabilitation Engineering and Assistive Technology Society of North America Conference (RESNA 2011), Toronto, Canada. (pdf) (YouTube 1) (YouTube 2)
  • 2010
    • Kulyukin, V. and Kutiyanawala, A. (2010). Accessible Shopping Systems for Blind and Visually Impaired Individuals: Design Requirements and the State of the Art . The Open Rehabilitation Journal, to appear. (pdf) (YouTube 1) (YouTube 2) (YouTube 3) (YouTube 4) (YouTube 5)
    • Kulyukin, V. (2010). Toward Comprehensive Smartphone Shopping Solutions for Blind and Visually Impaired Individuals. To appear in Rehabilitation and Community Care Magazine, Toronto, Canada. (pdf)
    • Kutiyanawala, A. and Kulyukin, V. (2010). An Eyes-Free Vision-Based UPC and MSI Barcode Localization and Decoding Algorithm for Mobile Phones. In Proceedings of Envision 2010, San Antonio, Texas. (pdf) (YouTube 1) (YouTube 2)
    • Kulyukin, V., and Kutiyanawala, A. (2010). Eyes-Free Barcode Localization and Decoding for Visually Impaired Mobile Phone Users. Proceedings of the 2010 International Conference on Image Processing, Computer Vision, & Pattern Recognition (IPCV 2010), Vol. 1, pp. 130-135. July 12-15, 2010, Las Vegas, NV. CSREA Press. (pdf) (YouTube 1) (YouTube 2)
    • Kulyukin, V. and Kutiyanawala, A. (2010). From ShopTalk to ShopMobile: Vision-Based Barcode Scanning with Mobile Phones for Independent Blind Grocery Shopping. Proceedings of the 2010 Rehabilitation Engineering and Assistive Technology Society of North America Conference (RESNA 2010), Las Vegas, NV. (paper) (poster) (YouTube 1) (YouTube 2) (YouTube 3)
    • Kulyukin, V., Marston, J., Mielie, J, and Kutiyanawala, A. (2010). Automated SVG Map Labeling for Customizable Large Print Maps for Low Vision Individuals. Proceedings of the 2010 Rehabilitation Engineering and Assistive Technology Society of North America Conference (RESNA 2010), Las Vegas, NV. (paper) (poster)
    • Kutiyanawala, A., Kulyukin, V., and Bryce, D. (2010). On Self-Sufficiency of Verbal Route Directions for Blind Navigation with Prior Exposure. Proceedings of the 25th Annual International Technology and Persons with Disabilities Conference (CSUN 2010), San Diego, CA. (pdf)
    • Nicholson, J., Kulyukin, V., and Kutiyanawala, A. (2010). On Automated Landmark Identification in Written Route Descriptions by Visually Impaired Individuals. Proceedings of the 25th Annual International Technology and Persons with Disabilities Conference (CSUN 2010), San Diego, CA. (pdf)
  • 2009
    • Kulyukin, V., and Gharpure, C. (2009). User Intent Communication in Robot-Assisted Shopping for the Blind. In Advances in Human-Robot Interaction, Vladimir Kulyukin (Edtr), ISBN 978-953-307-020-9, INTECH, December 2009. (pdf) (YouTube 1) (YouTube 2)
    • Nicholson, J., Kulyukin, V., and Marston, J. (2009). Building Route-Based Maps for the Visually Impaired from Natural Language Route Descriptions . Proceedings of the 24th International Cartographic Conference (ICC 2009), Santiago, Chile, November 2009. (pdf)
    • Nicholson, J., Kulyukin, V. (2009). CRISS: A Collaborative Route Information Sharing System for Visually Impaired Travelers. In M. M. Cruz-Cunha; E. F. Oliveira; A. J. Tavares; L. G. Ferreira (Edtrs.), Handbook of Research on Social Dimensions of Semantic Technologies and Web Services (Volume II), pp. 720-741, ISBN: 978-1-60566-650-1, IGI Global, Hershey, PA, USA.
    • Nicholson, J., Kulyukin, V., and Coster, D. (2009). ShopTalk: Independent Blind Shopping Through Verbal Route Directions and Barcode Scans . The Open Rehabilitation Journal, ISSN: 1874-9437 Volume 2, 2009, DOI 10.2174/1874943700902010011. (pdf) (YouTube 1) (YouTube 2) (YouTube 3) (YouTube 4) (YouTube 5)
    • Kulyukin, V., Kutiyanawala, A., and Venugopalan, R. (2009). A software Tool for Rapid Aquisition of Streetwise Geo-Referenced Maps . In Proceedings of the 24th Annual International Technology and Persons with Disabilities Conference (CSUN 2009), Los Angeles, CA. (pdf)
    • Nicholson, J., Kulyukin, V., and Coster, D. (2009). On Sufficiency of Verbal Instructions for Independent Blind Shopping . In Proceedings of the 24th Annual International Technology and Persons with Disabilities Conference (CSUN 2009), Los Angeles, CA. (pdf)
    • Nicholson, J. and Kulyukin, V. (2009). Several Qualitative Observations on Independent Blind Shopping. In Proceedings of the 24th Annual International Technology and Persons with Disabilities Conference (CSUN 2009), Los Angeles, CA. (pdf) (YouTube)
  • 2008
    • Kulyukin, V., Nicholson, J., and Coster, D. (2008). ShopTalk: Toward Independent Shopping by People with Visual Impairments . In Proceedings of the 8th ACM Conference on Computers and Accessiblity (ASSETS 2008), Halifax, Canada. (pdf) (YouTube 1) (YouTube 2) (YouTube 3) (YouTube 4) (YouTube 5)
    • Kulyukin, V., Gharpure, C., and Coster, D. (2008). Robot-Assisted Shopping for the Visually Impaired: Proof-of-Concept Design and Feasibility Evaluation. Assistive Technology, Volume 20.2/Summer 2008, pp. 86-98. RESNA Press. (YouTube 1) (YouTube 2) (YouTube 3) (YouTube 4) (YouTube 5) (YouTube 6) (YouTube 7)
    • Kulyukin, V., Nicholson, J., and Coster, D. (2008). ShopTalk: Toward Independent Shopping by People with Visual Impairments . Technical Report USU-CSATL-1-04-08, Computer Science Assistive Technology Laboratory, Department of Computer Science, Utah State University. April 15, 2008. (pdf) (YouTube 1) (YouTube 2) (YouTube 3) (YouTube 4) (YouTube 5)
    • Kutiyanawala, A. and Kulyukin, V. (2008). A Cartesian Robot for RFID Signal Distribution Model Verification. Proceedings of the Fifth International Conference on Ubiquitous Intelligence and Computing (UIC 2008), Oslo, Norway, July 2007. (pdf)
    • Kulyukin, V. Kutiyanawala, A., LoPresti, E., Matthews, J., and Simpson, R. (2008). Iwalker: Toward a Rollator-Mounted Wayfinding System for the Elderly. Proceedings of the 2008 IEEE International Conference on RFID (IEEE RFID). April 16-17, Las Vegas, NV, 2008. (pdf) (YouTube 1) (YouTube 2)
    • Kutiyanawala, A. and Kulyukin, V. (2008). A Cartesian Robot for RFID Signal Distribution Model Verification. Technical Report USU-CSATL-1-01-08, Computer Science Assistive Technology Laboratory, Department of Computer Science, Utah State University. January 23, 2008. (pdf)
    • Gharpure, C. and Kulyukin, V. (2008). Robot-Assisted Shopping for the Blind: Issues in Spatial Cognition and Product Selection. International Journal of Service Robotics, March 2008, DOI 10.1007/s11370-008-0020-9. (pdf) (YouTube 1) (YouTube 2) (YouTube 3) (YouTube 4) (YouTube 5) (YouTube 6) (YouTube 7)
    • Kulyukin, V., Nicholson, J., Ross, D. Marston, J., Gaunet, F. (2008). The Blind Leading The Blind: Toward Collaborative Online Route Information Management by Individuals with Visual Impairments. Proceedings of the AAAI Social Information Processing Symposium, pp. 54-59, Palo Alto, CA, March, 2008. (pdf)
  • 2007
    • Minghui, J. and Kulyukin, V. (2007). Connect-the-Dots in a Graph and Buffon's Needle on a Chessboard: Two Problems in Assisted Navigation. Proceedings of the 10th Joint Conference on Information Sciences and the 10th International Conference on Computer Science and Informatics (JCIS/CSI-07). Salt Lake City, UT, July 18-24, 2007, pp. 713-719. (pdf)
    • Kulyukin, V. LoPresti, E., Kutiyanawala, A., Simpson, R., and Matthews, J. (2007). A Rollator-Mounted Wayfinding System for the Elderly: Proof-of-Concept Design and Preliminary Technical Evaluation. Proceedings of the 30-th Annual Conference of the Rehabilitation Engineering and Assistive Technology Society of North America (RESNA 2007), June 2007, Phoenix, Arizona. (pdf) (YouTube 1) (YouTube 2)
    • Nicholson, J. and Kulyukin, V. (2007). ShopTalk: Independent Blind Shopping = Verbal Route Directions + Barcode Scans. Proceedings of the 30-th Annual Conference of the Rehabilitation Engineering and Assistive Technology Society of North America (RESNA 2007), June 2007, Phoenix, Arizona. (pdf) (YouTube 1) (YouTube 2) (YouTube 3) (YouTube 4) (YouTube 5)
    • Kulyukin, V., Kutiyanawala, A., and Jiang, M. (2007). Surface-Embedded Passive RF Exteroception: Kepler, Greed, and Buffon's Needle. Proceedings of the Fourth International Conference on Ubiquitous Intelligence and Computing (UIC 2007), Hong Kong, China, July 2007. (pdf)
    • Kulyukin, V. (2007). Command, Goal Disambiguation, Introspection, and Instruction in Gesture-Free Spoken Dialogue with a Robotic Office Assistant. In Aleksandar Lazinica (Edtr.), Mobile Robots: Towards New Applications, pp. 171-192, Pro Literatur Verlag, Germany, 2007. ISBN 3-86611-314-5.
    • Kulyukin, V. (2007). Robot-Assisted Shopping for the Blind: Haptic and Locomotor Spaces in Supermarkets (Extended Paper Abstract). Proceedings of the AAAI Spring Symposium on Multidisciplinary Collaboration for Socially Assistive Robotics Stanford University, pp. 36-38. Palo Alto, California, March 26-28, 2007. ( pdf)
    • Kulyukin, V. (2007). Talk the Walk: Robotic NLP vs. Human Sublanguage Acquisition (Extended Poster Abstract) . Proceedings of the AAAI Spring Symposium on Multidisciplinary Collaboration for Socially Assistive Robotics Stanford University, pp. 33-35. Palo Alto, California, March 26-28, 2007. ( pdf)
    • Matthews, J., LoPresti, E., Simpson, R., Kulyukin, V. Wang, J., and Nalitz, N. (2007). Preferences for Interface Design for a Navigation Assistant on a Wheeled Walker. Proceedings of the International Conference on Technology and Aging (ICTA 2007), June 2007, Toronto, Canada. (pdf) (YouTube 1) (YouTube 2)
    • Kulyukin, V., Gharpure, C., Pentico, C. (2007). Robots as Interfaces to Haptic and Locomotor Spaces. Proceedings of the ACM Conference on Human-Robot Interaction (HRI 2007), pp. 325-331. Washington, D.C. (pdf) (pdf) (YouTube 1) (YouTube 2) (YouTube 3) (YouTube 4) (YouTube 5) (YouTube 6) (YouTube 7)
  • 2006
    • Kutiyanawala, A., Kulyukin, V., LoPresti, E., Matthews, J., Simpson, R. (2006). A Rollator-Mounted Wayfinding System for the Elderly: A Smart World Perspective . Proceedings of the 8th ACM Conference on Computers and Accessiblity (ASSETS 2006), pp. 245-246. Portland, Oregon. (zip) (YouTube 1) (YouTube 2)
    • Kulyukin, V., Gharpure, C., Nicholson, J., Osborne, G. (2006). Robot-Assisted Wayfinding for the Visually Impaired in Structured Indoor Environments. Autonomous Robots, 21(1), pp. 29-41. (zip) (doi) (YouTube 1) (YouTube 2) (YouTube 3)
    • Gharpure, G., Kulyukin, V., Jiang, M., Kutiyanawala, A. (2006). Passive Radio Frequency Exteroception in Robot-Assisted Shopping for the Blind. Proceedings of the Third International Conference on Ubiquitous Intelligence and Computing (UIC 2006), pp. 51-60. Wuhan and Three Gorges, China. (zip)
    • Jiang, M. and Kulyukin, V. (2006). Connecting the Dots in a Graph and Buffon's Needle on a Chessboard: Two Problems in Assisted Navigation. Technical Report USU-CS-THEORY-2006-0309, Department of Computer Science, Utah State University. March 9, 2006. (zip)
    • Kulyukin, V., and Gharpure, G. (2006). A Robotic Shopping Assistant for the Blind. In Proceedings of the 29-th Annual Conference of the Rehabilitation Engineering and Assistive Technology Society of North America (RESNA 2006), June 2006, Atlanta, Georgia. (zip)
    • Nicholson, J. and Kulyukin, V. (2006). On the Impact of Data Collection on the Quality of Signal Strength Signatures in Wi-Fi Indoor Localization. Proceedings of the 29-th Annual Conference of the Rehabilitation Engineering and Assistive Technology Society of North America (RESNA 2006), June 2006, Atlanta, Georgia. (zip)
    • Gharpure, C., Kulyukin, V., and Nicholson, J. (2006). A Three-Sensor Model for Indoor Navigation. Proceedings of the 29-th Annual Conference of the Rehabilitation Engineering and Assistive Technology Society of North America (RESNA 2006), June 2006, Atlanta, Georgia. (zip)
    • Nicholson, J. and Kulyukin, V. (2006). A Wearable Two-Sensonsor O&M Device for Blind College Students. Proceedings of the 29-th Annual Conference of the Rehabilitation Engineering and Assistive Technology Society of North America (RESNA 2006), June 2006, Atlanta, Georgia. (zip)
    • Gharpure, C., Kulyukin, V., and Kutiyanawala, A. (2006). A Robotic Shopping Assistant for the Blind: A Pilot Study in a Supermarket. Technical Report USU-CSATL-1-01-06, Computer Science Assistive Technology Laboratory, Department of Computer Science, Utah State University. January 24, 2006. (zip)
    • Kulyukin, V., Kutiyanawala, A, Jiang, M., and Gharpure, C. (2006). Surface-Embedded Passive Radio Frequency Exteroception in Robot Navigation. Technical Report USU-CSATL-2-01-06, Computer Science Assistive Technology Laboratory, Department of Computer Science, Utah State University. January 24, 2006. (zip)
    • Kulyukin, V. and Gharpure, C. (2006). Ergonomics-for-One in a Robotic Shopping Cart for the Blind. Proceedings of the 2006 ACM Conference on Human-Robot Interaction (HRI 2006), pp. 142-149. Salt Lake City, Utah. (zip) (YouTube 1) (YouTube 2) (YouTube 3) (YouTube 4) (YouTube 5) (YouTube 6) (YouTube 7)
    • Kulyukin, V. (2006). On Natural Language Dialogue with Assistive Robots. Proceedings of the 2006 ACM Conference on Human-Robot Interaction (HRI 2006), pp. 164-171. Salt Lake City, Utah. (zip)
  • 2005
    • Kulyukin, V., Gharpure, C., and Nicholson, J. (2005). RoboCart: Toward Robot-Assisted Navigation of Grocery Stores by the Visually Impaired. Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), Edmonton, Alberta, Canada. (zip) (YouTube 1) (YouTube 2) (YouTube 3) (YouTube 4) (YouTube 5) (YouTube 6) (YouTube 7)
    • Kulyukin, V., Banavalikar, A., and Nicholson, J. (2005). Wireless Indoor Localization with Dempster-Shafer Simple Support Functions. Technical Report USU-CSATL-1-05-05, Computer Science Assistive Technology Laboratory, Department of Computer Science, Utah State University. (zip)
    • Kulyukin, V. and Gharpure, C. (2005). Topological Landmark Recognition Indoors: Extracting Symbolic Features from Laser Range Signatures. Technical Report USU-CSATL-2-05-05, Computer Science Assistive Technology Laboratory, Department of Computer Science, Utah State University. (zip)
    • Kulyukin, V. and Nicholson, J. (2005). Wireless Localization Indoors with Wi-Fi Access Points. Proceedings of the 28-th Annual Conference of the Rehabilitation Engineering and Assistive Technology Society of North America (RESNA 2005), June 2005, Atlanta, Georgia. (zip)
    • Kulyukin, V. (2005). On Overcoming Longitudinal and Latitudinal Drift in GPS-Based Localization Outdoors. Proceedings of the 28-th Annual Conference of the Rehabilitation Engineering and Assistive Technology Society of North America (RESNA 2005), June 2005, Atlanta, Georgia. (zip). If you are interested in more details, you can check out our technical report here.
    • Kulyukin, V. (2005). Should Rehabilitation Robots be Dialogical? Presented at the 2005 AAAI Spring Symposium on Dialogical Robots, Palo Alto, CA. (zip)
    • Kulyukin, V. and Nicholson, J. (2005). Structural Text Mining, Encyclopedia of Information Science and Technology, Mehdi Kosrow-Pour, ed., Volume I-V, pp. 2658-2661, Idea Publishing Group, Hershey, Pennsylvania. This chapter cannot be made available on-line because of the distribution agreement with Idea Publishing Group.
  • 2004
    • Kulyukin, V. and Nicholson, J. (2004). On Overcoming Longitudinal and Latitudinal Signal Drift in GPS-Based Localization Outdoors. Technical Report USU-CS-ATL-1-12-04, Computer Science Assistive Technology Laboratory, Department of Computer Science, Utah State University. (zip)
    • Kulyukin, V., Gharpure, C., Nicholson, J., Pavithran, S. (2004). RFID in Robot-Assisted Indoor Navigation for the Visually Impaired. Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), Sendai, Japan. (zip) (YouTube)
    • Kulyukin, V., Gharpure, C., Sute, P., De Graw., N., Nicholson, J. (2004). A Robotic Wayfinding System for the Visually Impaired. Proceedings of the Sixteenth Innovative Applications of Artificial Intelligence Conference (IAAI-04), San Jose, CA. (zip)
    • Kulyukin, V., Gharpure, C., De Graw, N., Nicholson, J., Pavithran, S. (2004). A Robotic Guide for the Visually Impaired in Indoor Environments. Proceedings of the 27-th Annual Conference of the Rehabilitation Engineering and Assistive Technology Society of North America (RESNA 2004), June 2004, Orlando, Florida. (zip) (YouTube 1) (YouTube 2) (YouTube 3)
    • Kulyukin, V., Sute, P., Gharpure, C., and Pavithran, S. (2004). Perception of Audio Cues in Robot-Assisted Navigation. Proceedings of the 27-th Annual Conference of the Rehabilitation Engineering and Assistive Technology Society of North America (RESNA 2004), June 2004, Orlando, Florida. (zip)
    • Kulyukin, V., Gharpure, C., and De Graw, N. (2004). Human-Robot Interaction in a Robotic Guide for the Visually Impaired. Proceedings of the AAAI 2004 Spring Symposium on Interaction between Humans and Autonomous Systems over Extended Operation, Palo Alto, CA, March 2004. (zip)
    • Kulyukin, V. (2004). Human-Robot Interaction through Gesture-Free Spoken Dialogue. Autonomous Robots, vol. 16(3), 2004. (zip)
• Media Coverage:
  • Mary-Ann Muffoletto (2008). USU Computer Scientists Develop iWalker to Aid Alzheimer's Patients, Utah State Today, March 06, 2008.
  • Ed Yates (2008). A New Walker Could Help People with Alzheimer's., Channel 5 KSL TV, Salt Lake City, Utah, March 4, 2008. Text version of the story is available here.
  • Amanda MacMillan (2005). A Seeing Eye Robot "Dog", Prevention Magazine, Vol. 57, Number 12, December 2005.
  • Elizabeth Lawyer (2005). Utah State Projects Assist the Blind, Utah Statesman, Sept. 26, 2005. This article describes the current projects at USU CSATL.
  • Denise Albiston (2005). Can't find the way?, The Herald Journal, August 11, 2005. This artcile is about Wayfinder, our wearable multi-sensor navigation device.
  • CBS Early Show (2005). Hi-Tech Grocery Shopping, CBS News, August 8, 2005. Our robotic guide is briefly mentioned in this feature story on hi-tech grocery shopping.
  • Channel 5 KSL TV News (2005). Channel 5 KSL TV News covers several USU projects including two of the CSATL projects: Robotic Guide for the Blind and Wayfinder, a Wearable Multisensor Device for the Blind and Visually Impaired, Channel 5 KSL TV, Salt Lake City, Utah, August 2, 2005.
  • Pippa Wysong (2005). Robodog helps blind see in shops, EuroTimes, August issue, 2005.
  • Tammy Walquist (2005). Robot guide may aid blind shoppers, Deseret Morning News, Tuesday, July 26, 2005.
  • Nancy Barrick and Bill Rice (2005). Nancy Barrick and Bill Rice interview Vladimir Kulyukin on KOMO 1000 News, Seattle, Tuesday July 12, 2005. The audio file is not available at this time.
  • Ashley Burrell (2005). Robot lends a seeing eye for blind shoppers, USA Today, Monday, July 11, 2005, 7D.
  • Allan Russell (2005). Allan Russell interviews Vladimir Kulyukin on VIP ON AIR, Europe's first radio station for the blind and partially sighted people in Glasgow, Scottland. The interview aired on May 31, 2005. The audio file is available here.
  • Christian Panfle (2005). Blindenfuhrer auf Radern. The Focus Magazine, Germany. May 28, 2005. This article is not available electronically.
  • Jasmine Michaelson (2005). The Bot Leading The Blind. The Herald Journal. May 18, 2005. This article is not available for free. You can go to the online archives of the Herald Journal, enter the search string "bot leading the blind," and purchase it for $2.50.
  • Scott Dale Robinson and Thomas Knight (2005). Scott Dale Robinson and Thomas Knight Interview Vladimir Kulyukin on TechRadioLive. TechRadioLive, AM 630 K-Talk. May 15, 2005.
  • Geoff Adams-Spink (2005). Robots to Help Blind Shoppers. BBC News Online, UK Edition, May 4, 2005.
  • Mel Poluck (2005). US Supermarket Chain Tests Robotic Guide. UK E-Access Bulletin, April 2005. The bulletin is an e-mail newsletter. It comes in text format so that visually impaired people can read it. Search for "Robotic Guide" on the referenced webpage to find the story.
  • Jeanie Croasmun (2005). Robotic Technology Does Guide Dog Tricks. Ergonomics Today, April 4, 2005.
  • R. Colin Johnson (2005). Team's Vision: Robotic Carts to Aid Blind Shoppers. EE Times, April 4, 2005.
  • USU Today (2005). Robot Guide Dog Picks Up Where Man's Best Friend Leaves Off. Utah State Today, March 31, 2005.
  • Mark Roberti (2005). The Seeing-Eye Robot. RFID Journal, March/April Issue, 2005. This article is not available online.
  • Greg Lavine (2005). USU's Seeing-Eye Robot With No Wet Nose. Salt Lake Tribune, March 29, 2005.
  • Peter Rosen (2005). Seeing Eye Robot. This is the KUTV Channel 2 News story about RG, our robotic guide for the visually impaired, working in Lee's Market Place, a supermarket in Logan, Utah. The story aired on February 28, 2005. Courtesy of KUTV Channel 2 News, Salt Lake City, Utah. Follow KUTV's link to Peter Rosen's Fresh Look on Life video archive. The archive contains many interesting technology stories.
  • Lexie Kite (2005). Professor Helps Create Space-Age Guide Dogs. Utah Statesman, Jan. 25, 2005.
  • Leon D'Souza. (2004). RG, the Robot Guide. Utah State Magazine, vol. 10, no. 4.