| 2025 | ISVC | A Geometry-Driven Approach to Detecting and Tracking Multiple Aerial Objects. | Jen Jui Liu, Curtis P. Evans, Randal W. Beard |
| 2019 | ICRA | Improving the Robustness of Visual-Inertial Extended Kalman Filtering. | James Jackson, Jerel Nielsen, Timothy W. McLain, Randal W. Beard |
| 2011 | IROS | Utilizing an improved rotorcraft dynamic model in state estimation. | Robert C. Leishman, Jeff Ferrin, Timothy W. McLain, John Macdonald, Stephen Quebe, Randal W. Beard |
| 2007 | ACC | Low Altitude Road Following Constraints Using Strap-down EO Cameras on Miniature Air Vehicles. | Joseph Egbert, Randal W. Beard |
| 2006 | ICRA | A Kalman-filter based Method for Creation of Super-resolved Mosaicks. | Bryce B. Ready, Clark N. Taylor, Randal W. Beard |
| 2005 | ICRA | Target Acquisition, Localization, and Surveillance Using a Fixed-Wing Mini-UAV and Gimbaled Camera. | Morgan Quigley, Michael A. Goodrich, Stephen Griffiths, Andrew Eldredge, Randal W. Beard |
| 2004 | ICRA | Human Assisted Capture-the-flag in an Urban Environment. | Matthew A. Blake, Gerrit A. Sorensen, James K. Archibald, Randal W. Beard |
| 2004 | IROS | Semi-autonomous human-UAV interfaces for fixed-wing mini-UAVs. | Morgan Quigley, Michael A. Goodrich, Randal W. Beard |
| 2002 | ICRA | Coordinated Target Assignment and Intercept for Unmanned Air Vehicles. | Randal W. Beard, Timothy W. McLain, Michael Goodrich |
| 2000 | ICRA | A Decentralized Approach to Elementary Formation Maneuvers. | Jonathan R. Lawton, Brett J. Young, Randal W. Beard |
| 2000 | ICRA | Two Hybrid Control Schemes for Nonholonomic Robots. | Brett J. Young, Jonathan R. Lawton, Randal W. Beard |
| 1998 | ICRA | Successive Galerkin Approximations to the Nonlinear Optimal Control of an Underwater Robotic Vehicle. | Timothy W. McLain, Randal W. Beard |