1. An introduction to the Heisenberg group and the sub-Riemannian isoperimetric problem with L. Capogna, D. Danielli, and S.D. Pauls, Progress in Mathematics, vol. 259, Birkhauser, 2007.
  2. Conformal dimension: theory and application with J. M. Mackay, University Lecture Series, vol. 54, American Mathematical Society, 2010. Please see also the List of errata.
  3. Sobolev spaces on metric measure spaces: an approach based on upper gradients with J. Heinonen, P. Koskela and N. Shanmugalingam, New Mathematical Monographs, vol. 27, Cambridge University Press, 2015.