The primary author of VBM is Randy Paffenroth. The code development forms a major part of his PhD research under the direction of Dr. John Maddocks. However there have been several other substantial contributions from past and present members of the Maddocks group both to the current implementation, previous versions, and precursor programs, without whom this program would not have been possible.
Randy Paffenroth redrod@masg1.epfl.ch