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2008
Robot Algorithms, Tsianos K, Halperin D, Kavraki L, Latombe J, Attalah M , Algorithms and Theory of Computation Handbook, (2008)

2004
Robotics, Halperin D, Kavraki LE, Latombe J-C, and O'Rourke GGJ , Handbook of Discrete and Computational Geometry, Boca Raton, NY, p.1065-1094, (2004)

2003
Taking geometry to its edge: Fast unbound rigid (and hinge-bent) docking, Schneidman-Duhovny D, Inbar Y, Polak V, Shatsky M, Halperin I, Benyamini H, Barzilai A, Dror O, Haspel N, Nussinov R, Wolfson HJ , Proteins, Volume 52, Number 1, p.107-112, (2003)

1999
Robot Algorithms, Halperin D, Kavraki LE, Latombe J-C, Attalah M , Algorithms and Theory of Computation Handbook, Boca Raton, NY, (1999)

1997
Robotics, Halperin D, Kavraki LE, Latombe J-C, and O'Rourke GGJ , Handbook of Discrete and Computational Geometry, Boca Raton, NY, p.755-779, (1997)

1996
Geometric Manipulation of Flexible Ligands, Finn PW, Halperin D, Kavraki LE, Latombe J-C, Motwani R, Shelton C, Venkat S , LNCS Series Applied Computational Geometry - Towards Geometric Engineering, May, Volume 1148, p.67-78, (1996)